JP2019059452A - Flight body, living body search system, living body search method, program, and recording medium - Google Patents

Abstract

To achieve the facilitation of disaster investigation and rescue efficiency which use a flight body.SOLUTION: A flight body is a flight body for searching a living body and includes: a sensor body 310 for detecting living body information about a living body; a support member for supporting the sensor part to be extendable and contractable; gimbals 200, 202 for causing the support member to be rotatable; a processing part for performing processing about the detection of the living body information; and an imaging part 230 for imaging an image. The processing part causes the imaging part to image an image of an investigation area, controls flight of the flight body so as to cause the flight body to approach toward the investigation area, extends the support member toward an investigation target existing in the investigation area, and causes the sensor part supported by the gimbal supported by the extended support member to detect living body information.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to an aircraft searching for a living body, a biological search system, a biological search method, a program, and a recording medium.

  In recent years, unmanned aerial vehicles have begun to be used in various applications. For example, unmanned aerial vehicles are beginning to be utilized for disaster investigations, and may be utilized for grasping the disaster situation by aerial photography of a stricken area or searching for a missing person. (See Non-Patent Document 1). Unmanned aerial vehicles are particularly expected to be used in complex terrain areas and in areas where there is a risk of secondary disasters.

"The first competition for lifesaving with drone", [online], October 25, 2016, Good morning Japan, NHK, [August 30, 2017 search], Internet <URL: http://www.nhk. or.jp/ohayou/digest/2016/10/10/25.html?utm_int=detail_contents_news-link_001>

  In Non-Patent Document 1, in a disaster survey by an unmanned aerial vehicle, an image captured from the upper sky by a camera attached to the unmanned aerial vehicle is used, but the disaster survey may be difficult by the image alone. For example, when a person is buried inside the rubble and it is not possible to visually recognize that the person is buried inside the rubble from outside the rubble, there is a high possibility that the human body can not be found. In addition, simply photographing the human body can not sufficiently grasp the situation of the human body, and the efficiency of rescue may be insufficient.

  In one aspect, the flying object is rotatable on a main body to which the rotary wing is attached, a first support member connected to the main body, a first gimbal supported on the first support member, and a first gimbal And a second gimbal supported by the second support member, and a sensor unit rotatably supported by the second gimbal.

  The second support member may be telescopic.

  The first support member may be telescopic.

  The sensor unit may detect information related to the living body.

  In one aspect, the flying object is a flying object searching a living body, and a sensor unit for detecting living body information related to the living body, a supportable sensor unit, an expandable support member, and a gimbal capable of rotating the support member And a processing unit that performs processing related to detection of biological information, and an imaging unit that captures an image, and the processing unit causes the imaging unit to capture an image of a survey area and make the flying object approach toward the survey area And controlling the flight of the flying object, extending the support member toward the survey target present in the survey area, and causing the sensor unit supported by the gimbal supported by the elongated support member to detect the biological information.

  When information indicating that a living body is present is detected as biological information, the processing unit may acquire position information of the flying object, and transmit the position information of the flying object to the server device.

  The aircraft may include a housing that houses a transmitter for transmitting radio waves. The processing unit may drop the transmitter from the storage unit when information indicating that a living body is present is detected as the biological information.

  The processing unit may acquire drop instruction information for dropping the transmitter from the control device that instructs control of the aircraft, and may drop the transmitter based on the drop instruction information.

  The processing unit satisfies a sensor condition indicating whether the sensor unit can detect biological information when the support member is extended at the current position of the flying object, and when the obstacle does not exist at the extended position of the support member The support member may be extended.

  The processing unit may obtain extension instruction information for instructing extension of the support member from the control device for instructing control of the flying object, and may extend the support member based on the extension instruction information.

  The processing unit may move the flying object avoiding the obstacle if the sensor condition does not satisfy the sensor condition indicating whether the sensor unit can detect biological information when the support member is extended.

  The processing unit may obtain movement instruction information for instructing movement of the aircraft from the control device instructing the control of the aircraft, and move the aircraft avoiding the obstacle based on the movement instruction information. .

  The processing unit satisfies the sensor condition indicating whether the sensor unit can detect biological information when the support member is extended at the current position of the flying object, and an obstacle is present at the extended position of the support member The gimbal may be controlled to change the orientation of the support member.

  The processing unit may acquire direction instruction information for instructing the direction of the support member from the control device that instructs control of the flying object, and may change the direction of the support member based on the direction instruction information.

  The sensor unit may include a plurality of sensors. The processing unit acquires on / off instruction information for turning on / off at least one sensor included in the sensor unit from the control device instructing control of the flying object, and is included in the sensor unit based on the on / off instruction information. At least one sensor may be turned on or off.

  The sensor conditions are as follows: Length from one end of the support member to the first point of the support member corresponding to the end of the rotor, length from one end to the other end of the support member, and insertion into the survey space where the survey target exists It may be determined based on the length from the other end of the support member to the second point.

  In one aspect, the living body searching system is a living body searching system including an flying body for searching a living body and a display device, wherein the flying body supports a sensor unit for detecting living body information on the living body and the sensor unit and is stretchable. Support member, a gimbal that rotatably supports the support member, a processing unit that performs processing for searching for a living body, and an imaging unit that captures an image, and the processing unit transmits the image of the survey area to the imaging unit Control the flight of the flying object so as to bring an image and approach the flying object toward the investigation region, extend the support member toward the investigation target existing in the investigation region, and use a gimbal supported by the extended support member The supported sensor unit detects the biological information and transmits the biological information, and the display device receives the biological information and displays it based on the biological information.

  The sensor unit of the flying object may detect the distance to an obstacle present around the living body. When the distance is less than the predetermined distance, the processing unit of the aircraft may transmit, to the display device, first notification information based on the distance. The display device may receive the first notification information and may display based on the first notification information.

  The processing unit of the flight object is based on satisfying the sensor condition if the sensor unit condition indicates whether detection of biological information is possible by the sensor unit when the support member is extended at the current position of the flight object. The second notification information may be sent to the display device. The display device may receive the second notification information and may display the second notification information based on the second notification information.

  In one aspect, the living body search method includes a sensor unit that detects living body information related to a living body, a telescopic support member that supports the sensor unit, and an expandable support member, and a gimbal that can rotatably support the support member, and searches for the living body A method of living body search in a body, comprising the steps of: imaging an image of a survey area with an imaging unit for capturing an image; controlling flight of the aircraft so as to bring the aircraft closer to the survey area; And e. Extending the support member toward the subject of investigation, and causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information.

  The living body searching method further includes the steps of acquiring the position information of the flying object and transmitting the position information of the flying object to the server device when the information indicating that the living body exists is detected as the biological information. Good.

  The aircraft may include a housing that houses a transmitter for transmitting radio waves. If information indicating that a living body exists is detected as biological information, the method may further include the step of dropping the transmitter from the storage unit.

  The living body searching method may further include the step of obtaining drop instruction information for dropping a transmitter from a control device instructing control of an aircraft. The step of dropping the transmitter may include the step of dropping the transmitter based on the drop instruction information.

  In the step of extending the support member, at the current position of the flying object, when the support member is extended, a sensor condition indicating whether or not detection of biological information is possible by the sensor unit is satisfied, and the obstacle at the extension position of the support member And the step of extending the support member may be included.

  The living body searching method may further include the step of obtaining extension instruction information for instructing extension of the support member from a control device for instructing control of the flying object. The step of extending the support member may extend the support member based on the extension instruction information.

  The step of controlling the flight of the flying object is a step of moving the flying object by avoiding an obstacle if the sensor condition which indicates whether the sensor unit can detect biological information when extending the support member is not satisfied. May be included.

  The living body searching method may further include the step of acquiring movement instruction information for instructing movement of the flying object from a control device instructing control of the flying object. The step of controlling the flight of the flying object may include moving the flying object avoiding an obstacle based on the movement instruction information.

  In the living body searching method, when the support member is extended at the current position of the flying object, a sensor condition indicating whether the detection of biological information is possible by the sensor unit is satisfied, and an obstacle exists at the extended position of the support member In the case, the step of controlling the gimbal to change the orientation of the support member may be further included.

  The living body searching method may further include the step of obtaining direction indication information for instructing the direction of the support member from a control device instructing control of the flying object. The step of changing the orientation of the support member may include the step of changing the orientation of the support member based on the direction indication information.

  The sensor unit may include a plurality of sensors. The living body searching method comprises the steps of acquiring on / off instruction information for turning on / off at least one sensor included in the sensor unit from a control device instructing control of a flying object, and based on the on / off instruction information, And D. turning on or off at least one of the sensors included therein.

  The sensor conditions are as follows: Length from one end of the support member to the first point of the support member corresponding to the end of the rotor, length from one end to the other end of the support member, and insertion into the survey space where the survey target exists It may be determined based on the length from the other end of the support member to the second point.

  In one aspect, a program includes a sensor unit for detecting biological information related to a living body, an expandable support member supporting the sensor unit, and a gimbal rotatably supporting the support member, and a flying body searching for a living body (B) causing the imaging unit to capture an image to capture an image of the survey area, (b) controlling the flight of the aircraft so that the flight body approaches the survey area, and (b) It is a program for performing the steps of extending the support member and causing the sensor unit supported by the gimbal supported by the extended support member to detect biological information.

  In one aspect, a recording medium includes a sensor unit for detecting biological information related to a living body, an expandable support member supporting the sensor unit, and a gimbal rotatably supporting the support member, and a flying body for searching for a living body A step of causing the imaging unit for capturing an image to capture an image of the survey area, a step of controlling the flight of the aircraft so as to make the flight body approach toward the survey area, and A computer readable recording medium recorded with a program for performing the steps of: extending the support member; and causing the sensor unit supported by the gimbal supported by the extended support member to detect biological information It is.

  The above summary of the invention does not enumerate all features of the present disclosure. In addition, a subcombination of these feature groups can also be an invention.

The schematic diagram which shows the 1st structural example of the biological search system in 1st Embodiment A schematic view showing a second configuration example of a living body search system Block diagram showing an example of the hardware configuration of an unmanned aerial vehicle External view showing an example of an unmanned aerial vehicle Schematic showing an example configuration of an unmanned aerial vehicle with the second pole not extended Schematic showing an exemplary configuration of an unmanned aerial vehicle with the second pole extended Schematic view of the sensor unit viewed from the tip side Schematic perspective view showing a configuration example of a storage box Block diagram showing an example of the hardware configuration of the terminal Block diagram showing an example of the hardware configuration of the server device Diagram for explaining various lengths of unmanned aerial vehicles Diagram showing an example of operation area A diagram showing a display example of a display unit in a terminal Diagram showing the first example of survey target surrounded by obstacles A diagram showing a first display example of an area around an obstacle by the display unit Figure showing a second example of the survey object surrounded by obstacles A diagram showing a second display example around an obstacle by the display unit Diagram showing the third example of survey target surrounded by obstacles A diagram showing a third display example around an obstacle by the display unit Diagram showing the fourth example of survey target surrounded by obstacles A diagram showing a fourth display example of the surroundings of the obstacle by the display unit Figure showing an example of the first drop of a transmitter by an unmanned aerial vehicle The figure which shows the example of a display of the display part in the case of dropping a transmitter according to a 1st example of dropping by a UAV The figure which shows the 2nd dropping example of the transmitter by the unmanned aerial vehicle The figure which shows the example of a display of the display part in the case of dropping a transmitter in accordance with the 2nd example of dropping by a UAV A schematic diagram showing an example of the positional relationship between an unmanned aerial vehicle and an obstacle when left and right movement is unnecessary A schematic view showing an example of the positional relationship between the unmanned aerial vehicle and the obstacle when the unmanned aerial vehicle approaches the survey target from the state of FIG. 25A A schematic diagram showing an example of the positional relationship between an unmanned aerial vehicle and an obstacle when left and right movement is required Diagram explaining that the UAV moves away from obstacles A diagram illustrating changing the orientation of the second pole A diagram for explaining detection of biological information by a sensor unit Diagram for explaining the reference length considering the orientation of the second pole relative to the first gimbal Sequence diagram showing an operation example of a living body search system A sequence diagram showing an operation example of a living body search system (continuation of FIG. 28)

  Hereinafter, the present disclosure will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential to the solution of the invention.

  The claims, the description, the drawings, and the abstract contain matters that are subject to copyright protection. The copyright holder will not object to any copy of these documents as they appear in the Patent Office file or record. However, in all other cases, all copyrights are reserved.

  In the following embodiments, an unmanned aerial vehicle (UAV) is mainly illustrated as a flying object. In the drawings attached to the present specification, the unmanned aerial vehicle is also referred to as "UAV". The biometric search method defines the operation in an unmanned aerial vehicle. The recording medium is recorded with a program (for example, a program for causing an unmanned aircraft to execute various processes).

First Embodiment
FIG. 1A is a schematic view showing a first configuration example of the living body search system 10 according to the first embodiment. The biometric system 10 includes an unmanned aerial vehicle 100, a transmitter 50, a terminal 80, and a server device 40. The unmanned aerial vehicle 100, the transmitter 50, the terminal 80, and the server device 40 can communicate with each other by wired communication or wireless communication (for example, wireless LAN (Local Area Network)). FIG. 1A exemplifies that the terminal 80 is a portable terminal (for example, a smartphone, a tablet terminal). The transmitter 50 is an example of a control device. The terminal 80 is an example of a control device.

  FIG. 1B is a schematic view showing a second configuration example of the living body search system 10 according to the first embodiment. FIG. 1B exemplifies that the terminal 80 is a PC (Personal Computer). The functions of the terminal 80 may be the same in either of FIG. 1A and FIG. 1B.

  FIG. 2 is a block diagram showing an example of the hardware configuration of the unmanned aerial vehicle 100. As shown in FIG. The UAV 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a storage 170, a first gimbal 200, a second gimbal 202, a first pole 204, a second pole 206, and a rotary wing mechanism 210. , An imaging unit 230, a GPS receiver 240, an inertial measurement unit (IMU: Inertial Measurement Unit) 250, a magnetic compass 260, a barometric altimeter 270, a first ultrasonic sensor 280, a laser measuring instrument 290, The sensor unit 310 and the containing box 320 are included.

  The sensor unit 310 may include a plurality of sensors. The sensor unit 310 includes, for example, a carbon dioxide sensor (CO 2 sensor) 311, a visible light LED (Light Emitting Diode) 312, an infrared LED 313, a second ultrasonic sensor 314, an infrared sensor 315, an imaging unit 316, and a microphone 317. Good. Note that some of these components in the sensor unit 310 may be omitted. The accommodation box 320 includes an open / close unit 321 and a camera 322.

  The UAV control unit 110 is an example of a processing unit. The first gimbal 200 is an example of a gimbal. The first pole 204 is an example of a first support member. The second pole 206 is an example of a second support member and a support member.

  The UAV control unit 110 is configured using, for example, a central processing unit (CPU), a micro processing unit (MPU), or a digital signal processor (DSP). The UAV control unit 110 performs signal processing for integrally controlling the operation of each unit of the unmanned aerial vehicle 100, data input / output processing with other units, data calculation processing, and data storage processing.

  The UAV control unit 110 may control the flight of the unmanned aerial vehicle 100 in accordance with a program stored in the memory 160. The UAV control unit 110 may control the flight of the unmanned aerial vehicle 100 in accordance with a program stored in the memory 160 in accordance with the aerial photography path generated by the UAV control unit 110. The UAV control unit 110 may control the flight of the unmanned aerial vehicle 100 in accordance with instructions received from the remote transmitter 50 via the communication interface 150. The command received from the transmitter 50 includes, for example, a command to move in the back and forth, up and down, left and right, and directions obtained by the pilot of the pilot with respect to the transmitter 50, a command to rotate, lift and process.

  The UAV control unit 110 acquires position information indicating the position of the unmanned aerial vehicle 100. The UAV control unit 110 may acquire, from the GPS receiver 240, positional information indicating the latitude, longitude, and altitude at which the unmanned aerial vehicle 100 is present. The UAV control unit 110 acquires, from the GPS receiver 240, latitude / longitude information indicating the latitude and longitude at which the unmanned aircraft 100 is present, and altitude information indicating the altitude at which the unmanned aircraft 100 is present from the barometric altimeter 270 as position information. The good UAV control unit 110 may acquire the distance between the radiation point of the ultrasonic wave by the first ultrasonic sensor 280 and the reflection point of the ultrasonic wave as the altitude information.

  The UAV control unit 110 may acquire orientation information indicating the orientation of the unmanned aerial vehicle 100 from the magnetic compass 260. The orientation information may be indicated, for example, in an orientation corresponding to the orientation of the nose of the unmanned aerial vehicle 100.

  The UAV control unit 110 may acquire position information indicating a position at which the unmanned aerial vehicle 100 should be present when the imaging unit 316 images the imaging range to be imaged. The UAV control unit 110 may obtain position information indicating the position where the unmanned aircraft 100 should be present from the memory 160. The UAV control unit 110 may acquire position information indicating the position where the unmanned aircraft 100 should be present from another device via the communication interface 150. The UAV control unit 110 refers to the map database (three-dimensional map database or two-dimensional map database) to identify the position where the unmanned aerial vehicle 100 can exist, and indicates the position where the unmanned aerial vehicle 100 should exist. It may be acquired as position information.

  The UAV control unit 110 may acquire imaging range information indicating imaging ranges of the imaging unit 316 and the imaging unit 230. The UAV control unit 110 may acquire angle-of-view information indicating the angle of view of the imaging unit 316 and the imaging unit 230 from the imaging unit 316 and the imaging unit 230 as parameters for specifying the imaging range. The UAV control unit 110 may acquire information indicating an imaging direction of the imaging unit 316 and the imaging unit 230 as a parameter for specifying an imaging range. The UAV control unit 110 may acquire posture information indicating the posture state of the imaging unit 316 from the first gimbal 200 and the second gimbal 202, for example, as information indicating the imaging direction of the imaging unit 316. The orientation information of the imaging unit 316 includes the rotation angle of the first gimbal 200 from the reference rotation angle of the roll axis, pitch axis and yaw axis, and the reference rotation angle of the roll axis of the second gimbal 202, pitch axis and yaw axis. The rotation angle may be combined (for example, combined or added) information.

  The UAV control unit 110 may acquire position information indicating a position where the unmanned aerial vehicle 100 is present as a parameter for specifying the imaging range. The UAV control unit 110 defines an imaging range indicating a geographical range to be imaged by the imaging unit 316 based on the angle of view and the imaging direction of the imaging unit 316 and the imaging unit 230 and the position where the unmanned aircraft 100 exists. Imaging range information may be acquired by generating imaging range information. The UAV control unit 110 may acquire imaging range information from the memory 160. The UAV control unit 110 may acquire imaging range information via the communication interface 150.

  The UAV control unit 110 controls the sensor unit 310 including the first gimbal 200, the second gimbal 202, the first pole 204, the second pole 206, the rotary wing mechanism 210, the imaging unit 230, the imaging unit 316, and the accommodation box 320. . The UAV control unit 110 may control the imaging range of the imaging unit 316 by changing the imaging direction or the angle of view of the imaging unit 316. The UAV control unit 110 may control the imaging range of the imaging unit 316 supported by the second gimbal 202 by controlling the rotation mechanism of at least one of the first gimbal 200 and the second gimbal 202.

  The imaging range refers to a geographical range imaged by the imaging unit 316 or the imaging unit 230. The imaging range is defined by latitude, longitude, and altitude. The imaging range may be a range in three-dimensional spatial data defined by latitude, longitude, and altitude. The imaging range may be a range in two-dimensional spatial data defined by latitude and longitude. The imaging range may be specified based on the angle of view and the imaging direction of the imaging unit 316 or the imaging unit 230, and the position where the unmanned aerial vehicle 100 is present. The imaging directions of the imaging unit 316 and the imaging unit 230 may be defined from an azimuth and a direction in which the imaging lens of the imaging unit 316 and the imaging lens of the imaging unit 230 is provided. The imaging direction of the imaging unit 316 may be a direction specified from the heading of the nose of the unmanned aerial vehicle 100 and the state of the attitude of the imaging unit 316. The imaging direction of the imaging unit 230 may be a direction specified from the heading of the nose of the unmanned aerial vehicle 100 and the position where the imaging unit 230 is provided.

  The UAV control unit 110 may identify the environment around the unmanned aerial vehicle 100 by analyzing the plurality of images captured by the plurality of imaging units 230. The UAV control unit 110 may control the flight based on, for example, the obstacle around the unmanned aerial vehicle 100 based on the environment.

  The UAV control unit 110 may acquire three-dimensional information (three-dimensional information) indicating a three-dimensional shape (three-dimensional shape) of an object present around the unmanned aerial vehicle 100. The objects may be, for example, buildings, roads, cars, trees, obstacles such as rubble, etc. The three-dimensional information is, for example, three-dimensional space data. The UAV control unit 110 may acquire three-dimensional information by generating three-dimensional information indicating the three-dimensional shape of an object present around the unmanned aerial vehicle 100 from the respective images obtained from the plurality of imaging units 230. The UAV control unit 110 may acquire three-dimensional information indicating the three-dimensional shape of an object present around the unmanned aerial vehicle 100 by referring to the three-dimensional map database stored in the memory 160 or the storage 170. The UAV control unit 110 may acquire three-dimensional information on the three-dimensional shape of an object present around the unmanned aerial vehicle 100 by referring to a three-dimensional map database managed by a server present on the network.

  The UAV control unit 110 controls the flight of the unmanned aerial vehicle 100 by controlling the rotary wing mechanism 210. That is, the UAV control unit 110 controls the rotary wing mechanism 210 to control the position including the latitude, longitude, and altitude of the unmanned aerial vehicle 100. The UAV control unit 110 may control the imaging range of the imaging unit 316 by controlling the flight of the unmanned aerial vehicle 100. The UAV control unit 110 may control the angle of view of the imaging unit 316 by controlling the zoom lens included in the imaging unit 316. The UAV control unit 110 may control the angle of view of the imaging unit 316 by digital zoom using the digital zoom function of the imaging unit 316.

  The communication interface 150 communicates with, for example, the transmitter 50, the terminal 80, and the server device 40. The communication interface 150 may perform wireless communication by any wireless communication scheme. The communication interface 150 may perform wired communication by any wired communication method. The communication interface 150 may transmit additional information on the aerial image and the aerial image to the terminal 80 and the server device 40. The aerial image may be a moving image or a still image. The communication interface 150 may transmit detection information (for example, biological information related to a living body) detected by the sensor unit 310 to the terminal 80 or the server device 40.

  The memory 160 includes a first gimbal 200, a second gimbal 202, a first pole 204, a second pole 206, a rotary wing mechanism 210, an imaging unit 230, a GPS receiver 240, an inertial measurement device 250, and a magnetic sensor 160. The compass 260, the barometric pressure altimeter 270, the first ultrasonic sensor 280, the laser measuring device 290, the sensor unit 310, and programs required to control the containing box 320 are stored. The memory 160 may be a computer readable recording medium, and may be a static random access memory (SRAM), a dynamic random access memory (DRAM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM), and It may include at least one of flash memory such as Universal Serial Bus (USB) memory. The memory 160 may be removable from the UAV 100 from the UAV body 102 (see FIG. 3).

  The storage 170 may include at least one of a hard disk drive (HDD), a solid state drive (SSD), an SD card, a USB memory, and other storage. The storage 170 may hold various information and various data. Storage 170 may be removable from UAV body 102 from unmanned aerial vehicle 100. The storage 170 may record, for example, an aerial image, additional information related to the aerial image, and biological information detected by the sensor unit 310.

  The rotary wing mechanism 210 has a plurality of rotary wings 211 and a plurality of drive motors for rotating the plurality of rotary wings 211. The rotary wing mechanism 210 causes the unmanned aircraft 100 to fly by being controlled in rotation by the UAV control unit 110. The number of rotary wings 211 may be, for example, four or any other number. Furthermore, the unmanned aerial vehicle 100 may be a fixed wing aircraft that does not have rotary wings.

  The imaging unit 316 may be an imaging camera (main camera) for imaging a subject (for example, the sky in the aerial view target, a landscape such as a mountain or a river, a building on the ground) included in a desired imaging range. The imaging unit 316 images a subject in a desired imaging range to generate data of a captured image. Image data (for example, an aerial image) obtained by imaging of the imaging unit 316 may be stored in a memory of the imaging unit 316 or the storage 170. Three-dimensional space data (three-dimensional shape data) around the unmanned aerial vehicle 100 may be generated based on an image captured by the imaging unit 316 in which a part of the imaging range is overlapped at a plurality of locations.

  The imaging unit 230 may be a sensing camera (sub-camera) that images the periphery of the unmanned aerial vehicle 100 to control the flight of the unmanned aerial vehicle 100. Two imaging units 230 may be provided on the front side, which is the nose of the unmanned aerial vehicle 100. Furthermore, two other imaging units 230 may be provided on the bottom of the unmanned aerial vehicle 100. The two front imaging units 230 may be paired to function as a so-called stereo camera. The two imaging units 230 on the bottom side may also be paired and function as a stereo camera. Three-dimensional space data (three-dimensional shape data) around the unmanned aerial vehicle 100 may be generated based on the images captured by the plurality of imaging units 230. The number of imaging units 230 provided in the unmanned aerial vehicle 100 is not limited to four. The unmanned aerial vehicle 100 may include at least one imaging unit 230. The unmanned aerial vehicle 100 may include at least one imaging unit 230 on each of the nose, aft, side, bottom, and ceiling of the unmanned aerial vehicle 100. The angle of view that can be set by the imaging unit 230 may be wider than the angle of view that can be set by the imaging unit 316. The imaging unit 230 may have a single focus lens or a fisheye lens. The imaging unit 230 images the periphery of the unmanned aerial vehicle 100 to generate data of a captured image. The image data of the imaging unit 230 may be stored in the storage 170.

  The GPS receiver 240 receives a plurality of signals indicating times transmitted from a plurality of navigation satellites (ie, GPS satellites) and the position (coordinates) of each GPS satellite. The GPS receiver 240 calculates the position of the GPS receiver 240 (that is, the position of the unmanned aerial vehicle 100) based on the received plurality of signals. The GPS receiver 240 outputs the position information of the unmanned aerial vehicle 100 to the UAV control unit 110. The calculation of the position information of the GPS receiver 240 may be performed by the UAV control unit 110 instead of the GPS receiver 240. In this case, the UAV control unit 110 receives information indicating the time included in the plurality of signals received by the GPS receiver 240 and the position of each GPS satellite.

  The inertial measurement device 250 detects the attitude of the unmanned aerial vehicle 100, and outputs the detection result to the UAV control unit 110. The inertial measurement device 250 detects, as the attitude of the unmanned aerial vehicle 100, accelerations in three axial directions in front, rear, left, right, and upper and lower directions of the unmanned aerial vehicle 100, and angular velocities in three axial directions of pitch, roll, and yaw axes. You may

  The magnetic compass 260 detects the heading of the nose of the unmanned aerial vehicle 100, and outputs the detection result to the UAV control unit 110.

  The barometric altimeter 270 detects the altitude at which the unmanned aircraft 100 flies, and outputs the detection result to the UAV control unit 110.

  The first ultrasonic sensor 280 emits an ultrasonic wave, detects an ultrasonic wave reflected by the ground or an object, and outputs the detection result to the UAV control unit 110. The detection result may indicate the distance or altitude from the unmanned aerial vehicle 100 to the ground. The detection result may indicate the distance from the unmanned aerial vehicle 100 to an object (e.g., a living body, an obstacle).

  The laser measuring device 290 irradiates the object with laser light, receives the light reflected from the object, and measures the distance between the UAV 100 and the object by the reflected light. The measurement method of the distance by the laser light may be, for example, a time of flight method.

  FIG. 3 is an external view showing an example of the unmanned aerial vehicle 100. As shown in FIG.

  The first gimbal 200 may rotatably support the second pole 206 about the yaw axis, the pitch axis, and the roll axis. The first gimbal 200 may change the orientation of the second pole 206 by rotating the second pole 206 about at least one of the yaw axis, the pitch axis, and the roll axis.

  The yaw axis, pitch axis, and roll axis may be defined as follows. For example, it is assumed that the roll axis is defined in the horizontal direction (direction parallel to the ground). In this case, a pitch axis is defined in a direction parallel to the ground and perpendicular to the roll axis, and a yaw axis (see z axis) is defined in a direction perpendicular to the ground and perpendicular to the roll axis and the pitch axis.

  The second gimbal 202 may support the sensor unit 310 rotatably about the yaw axis, the pitch axis, and the roll axis. The second gimbal 202 may change the orientation of the sensor unit 310 by rotating the sensor unit 310 around at least one of the yaw axis, the pitch axis, and the roll axis.

  The UAV main body 102 is attached with a rotary wing 211 of the rotary wing mechanism 210, an imaging unit 230, a first pole 204, an accommodation box 320, and the like. The UAV main body 102 is an example of a main body.

  The first pole 204 may be disposed along the yaw axis (z). The first pole 204 may or may not be stretchable. The first pole 204 may expand and contract and change in length under the control of the UAV control unit 110. The first pole 204 may normally be in an unextended state. The length when the first pole 204 is extended is, for example, 1 m or less.

  The first gimbal 200 is connected to and supported by the first pole 204. The first gimbal 200 adjusts the angle of the second pole 206, that is, the direction in which the second pole 206 extends (the direction of the second pole 206), under the control of the UAV control unit 110.

  The second pole 206 is connected to and supported by the first gimbal 200. The second pole 206 is adjusted in angle by the first gimbal 200, that is, the extending direction of the second pole 206 is adjusted. The second pole 206 is telescopic. The first pole 204 may expand and contract and change in length under the control of the UAV control unit 110. The second pole 206 may normally be in an unextended state. The length when the second pole 206 is extended is, for example, 1 m to 2 m. The second pole 206 may normally extend along a reference direction (in FIG. 3 along the roll axis (x)). The reference direction is a direction along the horizontal direction (for example, roll axis (x) or pitch axis (y)).

  The second gimbal 202 is connected to and supported by the second pole 206. The second gimbal 202 adjusts the angle (direction) of the sensor unit 310 attached to the tip side of the second gimbal 202.

  Thus, by providing the two gimbals (the first gimbal 200 and the second gimbal 202), the unmanned aerial vehicle 100 can finely adjust the position of the sensor unit 310 provided at the tip. For example, by adjusting the angle of the second pole 206 with respect to the first gimbal 200, the unmanned aerial vehicle 100 allows the second pole 206 to pass through the clearance of the obstacle even if there is an obstacle around the survey target. By stretching the sensor unit 310, the sensor unit 310 can be advanced into the gap of the obstacle. For example, by adjusting the angle of the sensor unit 310 with respect to the second gimbal 202, the unmanned aerial vehicle 100 can flexibly adjust the orientation of the sensor unit 310 in the space behind the clearance of the obstacle, and the survey target Even when the living body is immobile, information (biological information) on the living body can be detected (measured) from a desired direction. Thus, the unmanned aerial vehicle 100 can increase the possibility of suitably detecting biological information even when there are many obstacles or when the living body can not move.

  In addition, when the second gimbal 202 is extendable, the unmanned aerial vehicle 100 can extend the second pole 206 in the clearance of the obstacle, and the sensor unit 310 located further to the tip than the second pole, It can assist in accessing the living body as the subject of investigation.

  In addition, when the first gimbal 200 is extendable, the unmanned aerial vehicle 100 is difficult to descend, for example, when there are many obstacles or the flight environment is poor. The height at which the sensor unit 310 is located can be lowered. Therefore, the freedom of position adjustment of the second pole 206 and the sensor unit 310 in the gravity direction is improved, and the unmanned aerial vehicle 100 can easily search for a living body in response to various disaster situations.

  FIG. 4 is a schematic view showing a configuration example of the unmanned aerial vehicle 100 in a state in which the second pole 206 is not extended. FIG. 5 is a schematic view showing a configuration example of the unmanned aerial vehicle 100 in a state in which the second pole 206 is extended. FIG. 6 is a schematic view of the sensor unit 310 viewed from the tip side. In FIG. 6, the sensor unit 310 is viewed from the viewpoint facing the image sensor 316 a of the sensor unit 310.

  The carbon dioxide sensor 311 measures the gas concentration of carbon dioxide (CO 2) around the carbon dioxide sensor 311. The visible light LED 312 emits visible light (eg, white light) having a wavelength in the visible light range. The infrared LED 313 emits infrared light having a wavelength in the infrared light range. The visible light and the infrared light may be emitted to the investigation subject, and the investigation subject may be illuminated.

  The second ultrasonic sensor 314 emits an ultrasonic wave, detects an ultrasonic wave reflected by the ground or an object, and outputs the detection result to the UAV control unit 110. The detection result may indicate the distance from the second ultrasonic sensor 314 to an object (e.g., a living body, an obstacle).

  The imaging unit 316 includes an image sensor 316a and captures an image. The image sensor 316a has sensitivity to visible light. The image sensor 316a may have sensitivity to infrared light. Under the control of the UAV control unit 110, the imaging unit 316 may capture an image of the subject during a period in which the visible light is emitted by the visible light LED 312 and the subject is illuminated. Under the control of the UAV control unit 110, the imaging unit 316 may capture an object during a period in which infrared light is emitted toward the object by the infrared light LED 313.

  The microphone 317 picks up the sound generated around the microphone 317.

  In FIG. 6, in the sensor unit 310, the image sensor 316a is disposed at the center, and the visible light LED 312 and the infrared LED 313 are disposed around the image sensor 316a. The image sensor 316a may be formed in a substantially circular shape, or may be formed in another shape (for example, a rectangular shape). The visible light LED 312 and the infrared LED 313 may be formed in a substantially circular shape around the image sensor 316a, or may be formed in another shape (for example, a rectangular shape). A plurality of visible light LEDs 312 and infrared LEDs 313 may be provided, and the visible light LEDs 312 and the infrared LEDs 313 may be alternately arranged. The visible light LEDs 312 and the infrared light LEDs 313 may not be alternately arranged.

  As shown in FIG. 4, when the second pole 206 is not extended, in a non-extended state, the portion where the second pole 206 protrudes from the UAV main body 102 becomes short in the horizontal direction, or the second pole from the UAV main body 102 206 does not protrude. Therefore, in the unmanned aerial vehicle 100, it becomes less necessary to be aware that the second pole 206 collides with another object during flight, and it becomes easy to make a safe flight.

  As shown in FIG. 5, when the second pole 206 is in the extended state, the portion where the second pole 206 protrudes from the UAV main body 102 in the horizontal direction becomes long. Therefore, the unmanned aerial vehicle 100 can lengthen the distance between the sensor unit 310 located on the tip side of the extended second pole 206 and the UAV main body 102 or the rotary wing 211. In this case, the unmanned aerial vehicle 100 can easily perform various measurements using the sensor unit 310 even in a space surrounded by rubble, for example.

  In addition, the various sensors included in the sensor unit 310 do not have to operate all at the same time, and some of them may be turned off or some of them may be turned on. For example, when detecting data to be surveyed that is buried in an obstacle (for example, rubble), first, an image may be captured by the imaging unit 316 and this image may be displayed on the display unit 88 of the terminal 80. . That is, the user may visually confirm whether or not a living body such as a person is present in the image. If the amount of light in the obtained image is insufficient, the object to be examined may be illuminated using the visible light LED 312 to pick up a visible image. In addition, an infrared light LED 313 may be used to illuminate a survey target and to capture an infrared image. In addition, when the confirmation by the image can not be sufficiently performed, the sensor unit 310 may turn on the microphone 317 to pick up voice data, or detect the amount of carbon dioxide by the carbon dioxide sensor 311. When the power of each sensor is turned on in order, the unmanned aerial vehicle 100 can achieve power saving. Note that all the various sensors of the sensor unit 310 may be turned on and operated simultaneously. In this case, the unmanned aerial vehicle 100 can acquire data (biometric information) to be surveyed in a short time.

  Also, in FIGS. 4 and 5, the first ultrasonic sensor 280 is attached to the front of the UAV main body 102. The first ultrasonic sensor 280 is a distance from the front end of the UAV body 102 (that is, the front end of the unmanned aerial vehicle 100, the front end of the rotary wing 211 in front of the unmanned aerial vehicle 100) to an object (for example, an obstacle around the surveyed object) To detect

  FIG. 7 is a schematic perspective view showing a configuration example of the storage box 320. As shown in FIG.

  The accommodation box 320 mounts and accommodates one or more transmitters 400 (e.g., small transmitters). The storage box 320 has one or more opening / closing units 321 (for example, an opening / closing door) and a camera 322.

  The opening and closing unit 321 is normally closed. The open / close unit 321 may be opened, for example, under the control of the UAV control unit 110. For example, when the position information acquired via the GPS receiver 240 indicates a predetermined position, the UAV control unit 110 may open the opening / closing unit 321. The UAV control unit 110 may open the open / close unit 321 based on the operation information (open instruction information) of the operation unit 83 of the terminal 80 acquired via the communication interface 150. When the opening / closing unit 321 is opened, the transmitter 400 accommodated in the accommodation box 320 passes through the opening / closing unit 321 and is dropped. The unmanned aerial vehicle 100 can mark the position where the transmitter was dropped by dropping the transmitter 400. For example, when the user captures the radio wave of the transmitter 400, it becomes easy to find a living body around the dropping position of the transmitter 400. The user is a person who searches for a living body (for example, a rescue worker who searches for or rescues a living body at a disaster site or an accident site) or a person who supports searching for a living body (for example, a person who stands by at a center and cooperates with a rescue worker) , Other people may be good.

  The camera 322 is provided, for example, at the lower part of the storage box 320, and captures an image of the lower part of the storage box 320. The camera 322 is used, for example, to confirm the dropping position of the transmitter 400 when dropping the transmitter 400 from the containing box 320. By capturing an image with the camera 322, the unmanned aerial vehicle 100 can suppress the dropped transmitter 400 from falling into a living body. The image captured by the camera 322 may be sent to the terminal 80 and displayed.

  The transmitter 400 transmits a radio wave. The transmitted radio wave may be received by, for example, the terminal 80 possessed by the user. In this case, the user can determine whether the transmitter 400 is present, that is, whether a living body exists, by confirming the reception condition of radio waves from the transmitter 400 by the terminal 80 possessed by the user. Thus, the transmitter 400 can support disaster relief by the user.

  The transmitter 400 may transmit a signal including identification information unique to the own device for identifying the own device. When a plurality of transmitters 400 exist, identification information of the transmitters 400 is different. Therefore, even when a plurality of transmitters 400 are dropped from the accommodation box 320, it is possible to identify which of the transmitters 400 emits a signal from the identification information included in the signal received by the terminal 80.

  The transmitter 400 has a battery for supplying power to each part of the transmitter 400. The battery has, for example, a capacity that allows the transmitter 400 to operate for at least 48 hours. As a result, the transmitter 400 can continuously transmit radio waves continuously for 48 hours or more, and it becomes easy to find a survivor present near the transmitter 400.

  FIG. 8 is a block diagram showing an example of the hardware configuration of the terminal 80. As shown in FIG. The terminal 80 may include a terminal control unit 81, an operation unit 83, a communication unit 85, a memory 87, a display unit 88, and a storage 89. The terminal 80 may be possessed by a user. The transmitter 50 may be possessed by the user together with the terminal 80.

  The terminal control unit 81 is configured using, for example, a CPU, an MPU or a DSP. The terminal control unit 81 performs signal processing for integrally controlling the operation of each unit of the terminal 80, input / output processing of data between the other units, arithmetic processing of data, and storage processing of data.

  The terminal control unit 81 may acquire data from the unmanned aerial vehicle 100 server device or the transmitter 50, an aerial image or information (for example, biological information) via the communication unit 85. The terminal control unit 81 may acquire data and information input via the operation unit 83. The terminal control unit 81 may acquire data or an aerial image or information held in the memory 87 or the storage 89. The terminal control unit 81 may transmit data or information to the unmanned aerial vehicle 100, the server device, or the transmitter 50 via the communication unit 85. The terminal control unit 81 may send data, information, and an aerial image to the display unit 88, and cause the display unit 88 to display display information based on the data, information, and the aerial image.

  The terminal control unit 81 may execute an application (a living body search support application) for supporting a search for a living body. The terminal control unit 81 may generate various data used in the application.

  The operation unit 83 receives and acquires data and information input by the user of the terminal 80. The operation unit 83 may include a button, a key, a touch panel, a microphone, and the like. Here, it is mainly illustrated that the operation unit 83 and the display unit 88 are configured by a touch panel. In this case, the operation unit 83 can receive a touch operation, a tap operation, a drag operation, and the like. The operation unit 83 may receive information on various parameters. The information input by the operation unit 83 may be transmitted to the unmanned aerial vehicle 100, a server device, or the transmitter 50.

  The communication unit 85 performs wireless communication with the unmanned aerial vehicle 100, the server device 40, and the transmitter 50 by various wireless communication methods. The wireless communication scheme of the wireless communication may include, for example, communication via a wireless LAN, Bluetooth (registered trademark), or a public wireless channel. The communication unit 85 may perform wired communication by any wired communication method.

  The memory 87 has, for example, a ROM storing a program for defining the operation of the terminal 80 and data of setting values, and a RAM for temporarily storing various information and data used in processing of the terminal control unit 81. You may The memory 87 may include memories other than the ROM and the RAM. The memory 87 may be provided inside the terminal 80. The memory 87 may be removable from the terminal 80. The program may include an application program.

  The display unit 88 is configured using, for example, an LCD (Liquid Crystal Display), and displays various information and data output from the terminal control unit 81, an aerial image, and biological information. The display unit 88 may display various data and information related to the execution of the application.

  The storage 89 accumulates and holds various data and information. The storage 89 may be an HDD, an SSD, an SD card, a USB memory, or the like. The storage 89 may be provided inside the terminal 80. The storage 89 may be provided removable from the terminal 80. The storage 89 may hold aerial images and biological information acquired from the unmanned aerial vehicle 100, the server device 40, and the transmitter 50.

  The transmitter 50 has the same configuration as the terminal 80, and thus the detailed description is omitted. The transmitter 50 includes a control unit, an operation unit, a communication unit, a memory, and the like. The operation unit may be, for example, a control stick for instructing control of the flight of the unmanned aerial vehicle 100. The transmitter 50 may have a display. The transmitter 50 has the same function as the terminal 80, and the terminal 80 may be omitted. The terminal 80 has the same function as the transmitter 50, and the transmitter 50 may be omitted.

  FIG. 9 is a block diagram showing an example of the hardware configuration of the server device 40. As shown in FIG. The server device 40 may include a server control unit 41, a communication unit 45, a memory 47, and a storage 49. The server device 40 may be installed, for example, at a center for disaster relief. The center may be provided with a monitor, and under control of the server control unit 41, various information processed by the server control unit 41 may be displayed.

  The server control unit 41 is configured using, for example, a CPU, an MPU or a DSP. The server control unit 41 performs signal processing for integrally controlling the operation of each unit of the server device 40, data input / output processing with other units, data calculation processing, and data storage processing.

  The server control unit 41 may acquire data from the unmanned aerial vehicle 100, the transmitter 50, and the terminal 80, an aerial image, and information (for example, biometric information) via the communication unit 45. The server control unit 41 may acquire data or an aerial image or information held in the memory 47 or the storage 49. The server control unit 41 may transmit data and information to the unmanned aerial vehicle 100, the transmitter 50, and the terminal 80 via the communication unit 45.

  The server control unit 41 may execute an application (a living body search support application) for supporting a search for a living body. The server control unit 41 may generate various data used in the application.

  The communication unit 45 wirelessly communicates with the unmanned aerial vehicle 100, the transmitter 50, and the terminal 80 by various wireless communication methods. The wireless communication scheme of the wireless communication may include, for example, communication via a wireless LAN, Bluetooth (registered trademark), or a public wireless channel. The communication unit 45 may perform wired communication by any wired communication method.

  The memory 47 includes, for example, a ROM storing a program for defining the operation of the server device 40 and data of setting values, and a RAM for temporarily storing various information and data used in processing of the server control unit 41. You may The memory 47 may include memories other than the ROM and the RAM. The memory 47 may be provided inside the server device 40. The memory 47 may be provided to be removable from the server device 40. The program may include an application program.

  The storage 49 accumulates and holds various data and information. The storage 49 may be an HDD, an SSD, an SD card, a USB memory, or the like. The storage 49 may be provided inside the server device 40. The storage 89 may be provided to be removable from the server device 40. The server device 40 may hold aerial images and biological information acquired from the unmanned aerial vehicle 100, the transmitter 50, and the terminal 80.

Next, various lengths of the unmanned aerial vehicle 100 will be described.
FIG. 10 is a view for explaining various lengths of the unmanned aerial vehicle 100. As shown in FIG. In FIG. 10, the unmanned aerial vehicle 100 is viewed from directly below the unmanned aerial vehicle 100.

  The length L1 indicates the entire length (full length) of the second pole 206 and is also described as "L_Total". The length L2 indicates the distance from the center portion c1 of the first gimbal 200 (in other words, one end of the second pole 206) to the end of the rotary wing 211 forward (rightward in FIG. 10), and is also described as "L_front" Do. That is, the length L2 may indicate approximately half the length of the unmanned aerial vehicle 100 in the front-rear direction. The length L3 is set to the second gimbal 202 (the second gimbal 202) from the approach position p1 when the sensor part 310 is operated, when it enters the examination target (when it enters the gap of the obstacle around the Indicates the shortest distance to the center), and is also described as “L_min”. In other words, in order for the sensor unit 310 to be able to detect biological information, it is a length at which the sensor unit 310 should at least enter the space in which the investigation target exists (also referred to as the investigation space). If a portion of the second pole 206 corresponding to the length L3 enters the investigation space, the sensor unit 310 operates properly, and detection of biological information becomes possible. L_min may be, for example, a length on the order of cm, and may be about 10 cm or 20 cm.

  The length L2 is an example of the length from one end of the second pole 206 to the first point of the second pole 206 corresponding to the end of the rotary wing 211. The length L1 is an example of the length from one end of the second pole 206 to the other end. The length L3 is an example of the length from the other end of the second pole 206 inserted into the survey space where the survey target exists to the second point.

  The lengths L1 to L3 are all fixed values. The length L3 depends on the size of the detectable range of various sensors in the sensor unit 310.

  Whether or not the second pole 206 has entered the survey space over the length L3 or more is a condition for suitably using the sensor unit 310. Therefore, in the present embodiment, this condition is also referred to as "sensor condition". Therefore, the sensor condition is satisfied when the second pole 206 has entered into the survey space for the length L3 or more. If the second pole 206 has entered less than the length L3 in the examination space, or if the second pole 206 has not entered the examination space, the sensor condition is not satisfied.

  Here, the front end of the unmanned aerial vehicle 100 in the case where the second pole 206 has just entered the length L 3 into the survey space existing at the back of the gap of the obstacle, which is the boundary whether or not the sensor condition is satisfied. The distance between the front end of the front rotary wing 211 and the obstacle is a reference length d. When the second pole 206 enters with the length L3 or more in the survey space, the unmanned aerial vehicle 100 is positioned more forward than the case where the second pole 206 enters with the length L3. Therefore, the distance between the front end of the UAV 100 and the obstacle is shorter than the reference length d. Therefore, when the distance between the front end of the unmanned aerial vehicle 100 and the obstacle becomes shorter than the reference length d, the sensor condition is satisfied. On the other hand, when the distance between the front end of the unmanned aerial vehicle 100 and the obstacle becomes longer than the length d, the sensor condition will not be satisfied.

  As an example of the reference length d, a reference length in the case where the second pole 206 extends in the reference direction is taken as a reference length d0 (see FIGS. 25B, 26B, and 26C). As an example of the reference length d, a reference length when the second pole 206 extends in the direction changed from the reference direction is set as a reference length d1 (see FIG. 26D).

  When the biological information is detected by the sensor unit 310, the UAV control unit 110 may determine whether the sensor condition is satisfied. When the orientation of the second pole 206 is changed, the UAV control unit 110 may determine whether the sensor condition is satisfied. Every time the direction of the second pole 206 is changed, the UAV control unit 110 may determine whether the sensor condition is satisfied.

  Next, a search example of a living body using the unmanned aerial vehicle 100, the transmitter 50, and the terminal 80 by the living body search system 10 will be described.

  The living body search system 10 searches for living bodies such as survivors buried in the debris of a building broken due to an earthquake or the like. In this case, the user causes the unmanned aerial vehicle 100 to fly at a safe place using the transmitter 50 and the like, and the unmanned aerial vehicle 100 searches for a living body in the search area SR1 (survey area). Based on the information, a living body may be searched. Data communication is performed by wireless communication or the like between the unmanned aerial vehicle 100 and the transmitter 50 or the terminal 80 possessed by the user.

  In the unmanned aerial vehicle 100, the UAV control unit 110 has a function related to searching for a living body, and performs processing related to searching for a living body. The transmitter 50 has a function related to the support of the search of a living body, and performs processing related to the support of the search of the living body. In the terminal 80, the terminal control unit 81 has a function related to the support of the search of a living body, and performs processing related to the support of the search of the living body. In the server device 40, the server control unit 41 has a function related to the support of the search of a living body, and performs processing related to the support of the search of the living body.

  FIG. 11 is a diagram showing an example of the search area A1.

  The unmanned aerial vehicle 100 flies in the area of a search area SR1 (an example of a survey area). The UAV control unit 110 may obtain operation information (instruction information for flight control) from the transmitter 50, and move the unmanned aircraft 100 within the search area SR1 based on the operation information. That is, the unmanned aerial vehicle 100 may be fly operated (manually) by user operation. The UAV control unit 110 may obtain flight path information from the memory 160 or the like, and move the unmanned aerial vehicle 100 within the search area SR1 based on the flight path information. The UAV control unit 110 may acquire detection information detected by the sensor unit 310, and move the unmanned aerial vehicle 100 within the search area SR1 based on the detection information. That is, the unmanned aerial vehicle 100 may be flight-controlled (automatically) without user operation.

  For example, when the survey target (for example, a living body) is recognized in the image by image recognition or the like in the image captured by the imaging unit 316, for example, the UAV control unit 110 determines that the unmanned aerial vehicle 100 includes the recognized survey target. It may be moved within the range, or may be moved towards the recognized research object. The object of investigation here may be a specific object (such as a living body) or a specific place (such as a place where a survivor is likely to be). The living body may be other than the human body (for example, an animal such as a dog or a cat).

  The UAV control unit 110 may move the unmanned aerial vehicle 100 within a predetermined range including the position at which carbon dioxide is detected, when the carbon dioxide sensor 311 detects carbon dioxide at a threshold th1 or more indicating the presence of a living body. And the carbon dioxide may be moved towards the detected position.

  When the temperature of the living body (for example, a temperature of about 36 to 37 ° C.) is detected by the infrared sensor 315, the UAV control unit 110 moves the unmanned aerial vehicle 100 within a predetermined range including the position where the temperature of the living body is detected. It may be moved toward the position where the temperature of the living body is detected.

  When a sound is detected by the microphone 317, the UAV control unit 110 may move the unmanned aerial vehicle 100 within a predetermined range including the position at which the sound is detected, or moves toward the position at which the sound is detected. You may

  When the microphone 317 detects a predetermined sound (for example, a voice of a person or a cry of an animal), the UAV control unit 110 moves the unmanned aerial vehicle 100 within a predetermined range including the position at which the predetermined sound is detected. It may be moved toward a position where a predetermined sound is detected.

  FIG. 12 is a view showing a display example of the display unit 88 in the terminal 80. As shown in FIG. The terminal 80 may be, for example, a PC, a smartphone, or a transmitter 50.

  In FIG. 12, the display unit 88 displays the live view image g11, the detection value (Readout) of carbon dioxide by the carbon dioxide sensor 311, and the detection value (Readout) of sound by the microphone 317. The display information is an example of information displayed by the display unit 88. For example, another detection value detected by the sensor unit 310 may be displayed. In the terminal 80, the terminal control unit 81 may acquire the live view image g11, the detected value of carbon dioxide, and the information of the detected value of sound from the unmanned aerial vehicle 100 via the communication unit 85. The live view image g11 may be an image captured by the imaging unit 316 in a state where at least one of the visible light LED 312 and the infrared LED 313 emits light, or the imaging unit 316 in a state where neither the visible light LED 312 nor the infrared LED 313 emits light. It may be an image captured by

  FIG. 13 is a diagram showing a first example of a survey target SRO surrounded by an obstacle BC. The obstacle BC may be, for example, part of a building or furniture collapsed due to an earthquake, or may be rubble. Around the obstacle BC, the unmanned aerial vehicle 100 flying in the area of the search area SR1 is approaching the surveyed SRO.

  FIG. 14 is a diagram showing a first display example around the obstacle BC by the display unit 88. As shown in FIG. The live view image g11 illustrated in FIG. 14 is an image captured by the imaging unit 316 of the unmanned aircraft 100 of FIG. 13 approaching the obstacle BC. At this time, the sensor unit 310 is not turned on (enabled). Therefore, various information is not detected by each sensor in the sensor unit 310. Therefore, the terminal control unit 81 of the terminal 80 does not acquire the detection value by the carbon dioxide sensor 311 or the detection value by the microphone 317 included in the sensor unit 310, and the detection value as the detection result of the sensor is displayed on the display unit 88. It is not displayed.

  When the terminal control unit 81 detects an input (for example, pressing) of the display area of the sensor detection value via the operation unit 83, the terminal control unit 81 turns on / off the sensor corresponding to the sensor whose input is detected via the communication unit 85. On / off instruction information for instructing may be transmitted to the unmanned aerial vehicle 100. In the unmanned aerial vehicle 100, the UAV control unit 110 may obtain on / off instruction information via the communication interface 150, and switch the on / off state of the corresponding sensor based on the on / off instruction information. The display area of the sensor detection value may include, for example, a display area g12 of a detection value of carbon dioxide by the carbon dioxide sensor 311 and a display area g13 of a detection value of an audio signal by the microphone 317. That is, when the display area g12 is pressed, the carbon dioxide sensor 311 may be turned on or off. When the display area g13 is pressed, the microphone 317 may be turned on or off.

  By switching the on / off states of the various sensors included in the sensor unit 310, the unmanned aerial vehicle 100 can suppress the continuation of the on state when not in use, and can reduce the power consumption of the sensor unit 310. In addition, since the terminal 80 can instruct on / off of various sensors via the operation unit 83, it is possible to intuitively easily switch on / off states of various sensors.

  In the region of the live view image g11 in the display unit 88, there are an LED button B1 indicating the on / off state of the visible light LED 312 and an IR LED button B2 indicating the on / off state of the infrared LED 313. For example, the lighting states of the visible light LED 312 and the infrared LED 313 are indicated by a solid line, and the extinguishing states of the visible light LED 312 and the infrared LED 313 are indicated by a dotted line. In FIG. 14, the LED button B1 and the IR LED button B2 are shown by dotted lines, which indicate that the visible light LED 312 and the infrared LED 313 are in the off state.

  When the terminal control unit 81 detects an input (for example, a press) of the LED button B1 via the operation unit 83, the terminal control unit 81 may switch the on / off state of the LED 312. Similarly, when the terminal control unit 81 detects an input (for example, pressing) of the IR LED button B2 via the operation unit 83, the terminal control unit 81 may switch on and off the IR LED 313.

  The user confirms the situation (the situation of the site) of the search area SR1 with the live view image g11 via the display unit 88 of the terminal 80. The unmanned aerial vehicle 100 moves manually or automatically as described above to approach the surveyed SRO or an obstacle BC surrounding the surveyed SRO. When approaching the obstacle BC, the UAV control unit 110 of the unmanned aerial vehicle 100 maintains the second pole 206 in the horizontal direction (a direction parallel to the roll axis and the pitch axis), and the sensor portion in the forward direction of the unmanned aerial vehicle 100 Control so that 310 points. The UAV control unit 110 controls flight so that the unmanned aerial vehicle 100 approaches, for example, a gap between a plurality of obstacles BC. As a result, for example, the unmanned aerial vehicle 100 approaches the survey target SRO (for example, a living body) present in the back of the gaps between the plurality of obstacles BC.

  FIG. 15 is a diagram showing a second example of the investigation target SRO surrounded by the obstacle BC. Around the obstacle BC, the unmanned aerial vehicle 100 flying in the area of the search area SR1 is closer to the investigation target SRO than the state of FIG.

  FIG. 16 is a view showing a second display example around the obstacle BC by the display unit 88. As shown in FIG. The live view image g11 shown in FIG. 16 is an image captured by the imaging unit 316 of the unmanned aerial vehicle 100 of FIG. 15 closer to the investigation target SRO than the state of FIG. In FIG. 16, the imaging unit 316 included in the sensor unit 310 is adjusted to face the investigation target SRO so that the inside of the investigation target SRO surrounded by the obstacle BC can be confirmed. The orientation of the imaging unit 316 may be controlled by the UAV control unit 110.

  Further, at the timing shown in FIG. 16, the first ultrasonic sensor 280 is powered on and is operable. The first ultrasonic sensor 280 measures the distance from the first ultrasonic sensor 280 (that is, from the unmanned aerial vehicle 100) to the investigation target SRO and the obstacle BC. In the terminal 80, the terminal control unit 81 acquires the measurement result of the distance by the first ultrasonic sensor 280 via the communication unit 85. The terminal control unit 81 may cause the display unit 88 to display an obstacle approach mark MK1 (for example, MK11 and MK12) indicating that the obstacle BC is present, based on the acquired measurement result of the distance. The obstacle approach mark MK1 may be expressed by, for example, a mark indicating that an ultrasonic wave is transmitted, or the mark.

  For example, the display unit 88 may divide the distance division in stages according to the distance, and display the obstacle approach mark MK1 in a display mode corresponding to the distance division. The distance from the unmanned aerial vehicle 100 that captures the live view image g11 to the obstacle BC may be about 2 m in front and left, and less than 1 m in the right. For example, when the distance is about 2 m, an obstacle approach mark MK11 (for example, a mark including hatching, a yellow mark) may be displayed. When the distance is about 1 m, the obstacle approach mark MK1 may be indicated by an obstacle approach mark MK12 (for example, a black mark, a red mark).

  The display mode may be indicated, for example, by the display color of the obstacle approach mark MK1, the display pattern (for example, lighting, blinking, etc.) or other display correspondence. Further, the terminal control unit 81 may output voice of information on approach of the obstacle BC as voice information together with the display of the obstacle approach mark MK1 or instead of the display of the obstacle approach mark MK1. Also in this case, the terminal control unit 81 may change the voice output mode according to the distance division. In addition, the terminal control unit 81 may present information on the approach of the obstacle BC by other presentation methods instead of displaying and outputting voice.

  Thus, the first ultrasonic sensor 280 may measure the distance to the obstacle BC that exists in the four directions around the surveyed SRO. If the distance (measurement distance) measured by the first ultrasonic sensor 280 is smaller than a threshold th2 (safety distance for ensuring safety), the UAV control unit 110 causes the display unit 88 of the terminal 80 to display that effect. You may In this case, the UAV control unit 110 may transmit to the terminal 80 that the measurement distance is smaller than the safe distance (an example of the first notification information) via the communication interface 150. The terminal control unit 81 acquires that the measurement distance is smaller than the safety distance via the communication unit 85, and causes the display unit 88 to display that the measurement distance is smaller than the safety distance (for example, the obstacle approach mark MK1). You may The UAV control unit 110 may manually or automatically adjust the position of the unmanned aerial vehicle 100 by avoiding the obstacle BC and make the unmanned aerial vehicle 100 approach the survey target SRO. In this case, the user confirms that the measurement distance is smaller than the safe distance by the display of the obstacle approach mark MK1 by the display unit 88 of the terminal 80, and operates the transmitter 50, whereby the transmitter 50 is an unmanned aerial vehicle Control of the flight of 100 may be instructed, and adjustment of the position of the unmanned aerial vehicle 100 may be instructed. The threshold th2 (safety distance) may be longer than the reference length d.

  Thus, the terminal 80 can notify the unmanned aircraft 100 that the obstacle BC is approaching by displaying the obstacle approach mark MK1. Thus, the user can carefully control the flight control of the UAV 100 while confirming the obstacle approach mark on the display unit 88.

  FIG. 17 is a diagram showing a third example of the investigation target SRO surrounded by the obstacle BC. Around the obstacle BC, the unmanned aerial vehicle 100 flying in the area of the search area SR1 is closer to the surveyed SRO than the state of FIG.

  FIG. 18 is a view showing a third display example of the periphery of the obstacle BC by the display unit 88. As shown in FIG. The live view image g11 shown in FIG. 18 is an image captured by the imaging unit 316 of the unmanned aerial vehicle 100 of FIG. 17 closer to the investigation target SRO than the state of FIG. In FIG. 18, the imaging unit 316 included in the sensor unit 310 is adjusted to face the investigation target SRO so that the inside of the investigation target SRO surrounded by the obstacle BC can be confirmed. The orientation of the imaging unit 316 may be adjusted by the UAV control unit 110.

  In FIG. 18, the display unit 88 superimposes the sensor condition satisfaction mark MK2 on the live view image g11 and displays it. The outer edge of the display area of the live view image g11 may be highlighted (highlighted) by the sensor condition satisfaction mark MK2. The terminal control unit 81 may display such a sensor condition satisfaction mark MK2 when the sensor condition is satisfied, that is, when the measurement distance to the obstacle BC by the first ultrasonic sensor 280 is shorter than the threshold th3. The threshold th3 may coincide with the reference length d0 described above. The sensor condition satisfaction mark MK2 may be, for example, a thick frame shown on the outer edge of the display area of the live view image g11. The sensor condition satisfaction mark MK2 may be, for example, a green frame shown on the outer edge of the display area of the live view image g11. That is, the sensor condition satisfaction mark MK2 may be displayed in a display mode (frame thickness, frame color, or other display mode) that draws attention of the live view image g11.

  If the measurement distance is shorter than the threshold th3, the sensor condition is satisfied, and if the measurement distance is the threshold th3 or more, the sensor condition may not be satisfied. Satisfying the sensor condition may indicate that the sensor unit 310 can detect data on the surveyed SRO. In this case, at least one sensor in the sensor unit 310 may indicate that data on the survey target SRO can be detected. Also, it may indicate that data related to the survey target SRO can be detected by at least one of the sensors turned on in the sensor unit 310.

  Thus, the user can detect data (biometric information) by the sensor unit 310 by extending the second pole 206 by confirming the sensor condition satisfaction mark MK2 displayed on the display unit 88. Can understand Therefore, the unmanned aerial vehicle 100 can detect biological information by the sensor unit 310 without moving from the position at this time. That is, the unmanned aerial vehicle 100 and the living body searching system 10 can present to the user that the sensor unit 310 is capable of detecting the living body information, and the user can proceed with the living search procedure with reference to the presentation. Thus, the unmanned aerial vehicle 100 and the biological search system 10 can improve the search efficiency of the living body.

  FIG. 19 is a diagram illustrating a fourth example of the investigation target SRO surrounded by the obstacle BC. Around the obstacle BC, the unmanned aerial vehicle 100 flying in the area of the search area SR1 is closer to the surveyed SRO than the state of FIG. Further, in FIG. 19, the direction of the second pole 206 is adjusted as necessary, and inserted into the gap of the obstacle BC, and the sensor unit 310 enters the investigation space.

  FIG. 20 is a view showing a fourth display example around the obstacle BC by the display unit 88. As shown in FIG. The live view image g11 shown in FIG. 20 is an image captured by the imaging unit 316 of the unmanned aerial vehicle 100 of FIG. 19 closer to the investigation target SRO than in the state of FIG.

  In FIG. 20, various sensors (e.g., dioxide dioxide) included in the sensor unit 310 can be detected so that the sensor unit 310 (e.g., the image sensor 316a of the imaging unit 316) can detect information related to the investigation target SRO surrounded by the obstacle BC. The carbon sensor 311, the image sensor 316a, and the microphone 317) may be adjusted to face the investigation target SRO. In this case, the angle of the second pole 206 with respect to the first gimbal 200 may be adjusted such that the second pole 206 is inserted toward the investigation target SRO in the clearance of the obstacle BC. The angle of the second pole 206 may be adjusted by the UAV control unit 110. Also, the angle of the sensor unit 310 with respect to the second gimbal 202 may be adjusted so that the sensor unit 310 is directed in a desired direction. The angle of the sensor unit 310 may be adjusted by the UAV control unit 110.

  FIG. 20 is closer to the investigation target SRO than the state of FIG. 18, so the sensor condition is satisfied, and the state in which the biological information can be detected by the sensor unit 310 is continued. Therefore, the display unit 88 displays the sensor condition satisfaction mark MK2 together with the live view image g11.

  Further, in FIG. 20, the LED button B1 is indicated by a solid line, that is, in the lighting state. Therefore, the investigation target SRO is illuminated by the LED 312. Therefore, even if the investigation target SRO is located deep in the gap of the obstacle BC and the light amount is small around the investigation target SRO, the LED 312 can illuminate. Thus, for example, the unmanned aerial vehicle 100 can enhance the brightness and capture an image by the imaging unit 316. Therefore, the user can easily view the live view image g11 displayed by the display unit 88, and visually confirm the state of the survey target SRO.

  Further, in FIG. 20, detection values by various sensors included in the sensor unit 310 are displayed on the display unit 88. In the state of FIG. 20, sensor conditions are satisfied, and data are actually detected by various sensors included in the sensor unit 310. Therefore, the display unit 88 can display information based on detection values by the various sensors and the detection values. Therefore, the user can display the live view image g11 of the investigation target SRO illuminated by visible light or infrared light, detection values by various sensors (for example, detection values of carbon dioxide indicated in the display area g12, display area g13 Can be confirmed).

  FIG. 21 is a view showing a first drop example of the transmitter 400 by the unmanned aerial vehicle 100. In FIG. 21, the transmitter 400 is dropped from the storage box 320 of the unmanned aerial vehicle 100 into the gap of the obstacle BC.

  The UAV control unit 110 drops the transmitter 400 when it is determined that there is a living body to be investigated, that is, when the obtained biological information indicates that the living body exists. For example, the UAV control unit 110 may determine that a living body exists by image recognition on an image captured by the imaging unit 316. The UAV control unit 110 may determine that a living body is present when the carbon dioxide sensor 311 detects carbon dioxide at or above a threshold th1 indicating the presence of a living body. When the temperature of the living body (for example, a temperature of about 36 to 37 ° C.) is detected by the infrared sensor 315, the UAV control unit 110 may determine that the living body is present. The UAV control unit 110 may determine that a living body is present when any sound is detected by the microphone 317 or when a predetermined sound (for example, a voice of a person or a call of an animal) is detected.

  When the UAV control unit 110 determines that the living body is included in the investigation target SRO as a result of the detection of the biological information by the sensor unit 310, the camera 322 images the periphery of the investigation target SRO. This captured image may be sent to the terminal 80 via the communication interface 150 and confirmed by the user. The UAV control unit 110 may control to open the opening / closing unit 321 so as to drop the transmitter 400 manually or automatically, around the surveyed SRO or in the gap between the obstacles BC where the surveyed SRO is located. That is, the control unit of the transmitter 50 or the terminal control unit 81 of the terminal 80 inputs an instruction for dropping the transmitter 400 through the operation unit, and transmits drop instruction information to the unmanned aircraft 100 through the communication unit. You may In the unmanned aerial vehicle 100, the UAV control unit 110 may drop the transmitter 400 based on the drop instruction information. For example, the open / close unit 321 may be in the open state in the vicinity of the survey target SRO or directly above the gap of the obstacle BC in which the survey target SRO is located. If it is difficult to drop the transmitter 400 in the vicinity of the surveyed SRO or in the gap between the obstacle BC where the surveyed SRO is located, the transmitter may be placed near the gap in the obstacle BC where the surveyed SRO is located. 400 may be dropped.

  Further, the UAV control unit 110 may lower the unmanned aerial vehicle 100 when dropping the transmitter 400 and may drop the transmitter 400 when the flight altitude of the transmitter 400 is equal to or less than the threshold th4. As a result, it is possible to suppress that the transmitter 400 is dropped from a high place and the transmitter is damaged or broken. The threshold th4 is 2 m, for example. The threshold th4 may be a fixed value or a variable value.

  FIG. 22 is a diagram showing a display example of the display unit 88 when the unmanned aerial vehicle 100 drops the transmitter 400 according to the first dropping example.

  In the region of the live view image g11 in the display unit 88, a MARK button B3 for opening and closing the opening and closing unit 321 of the accommodation box 320 is present. For example, the open state of the opening / closing unit 321 is indicated by a solid line, and the closed state of the opening / closing unit 321 is indicated by a dotted line. In FIG. 22, the MARK button B3 is indicated by a solid line, which indicates that the open / close unit 321 is opened.

  When the terminal control unit 81 detects an input (for example, pressing) of the MARK button B3 via the operation unit 83, the terminal control unit 81 may switch between the open state and the closed state of the opening / closing unit 321. For example, while watching the live view image g11 of the display unit 88 of the terminal 80, the user may instruct the control of the flight of the unmanned aerial vehicle 100 by the transmitter 50 and press the MARK button B3 at a desired position. Thereby, the unmanned aerial vehicle 100 can open the opening / closing part 321 at the position desired by the user and drop the transmitter 400.

  Thus, the unmanned aerial vehicle 100 can mark the place where the living body was found by dropping the transmitter 400 around the surveyed SRO. Thus, for example, when the user approaches the vicinity of the location where the living body was found after marking, the radio wave transmitted from the transmitter 400 can be received, and the user can head to the location of the living body. Thus, the unmanned aerial vehicle 100 can search for a living body more efficiently and safely than searching for a living body while the user is moving.

  In addition, the user can drop the transmitter 400 by pressing the MARK button B3 while confirming the situation in the vicinity of the living body via the display unit 88. Thus, the unmanned aerial vehicle 100 can drop the transmitter 400 at the timing and position desired by the user.

  FIG. 23 is a view showing a second drop example of the transmitter 400 by the unmanned aerial vehicle 100. As shown in FIG. In FIG. 23, the transmitter 400 is dropped from the storage box 320 of the unmanned aerial vehicle 100 around the person as the living body LB.

  In FIG. 23, there is no obstacle BC surrounding the living body LB, and the transmitter 400 can be easily dropped around the living body LB. For example, the UAV control unit 110 may control to open the opening / closing unit 321 so as to drop the transmitter 400 around the living body LB manually or automatically. In this case, the UAV control unit 110 may drop the transmitter 400 while avoiding the position of the living body LB.

  FIG. 24 is a diagram showing a display example of the display unit 88 when the unmanned aerial vehicle 100 drops the transmitter 400 according to the second dropping example. In FIG. 24, since the obstacle BC does not exist around the living body LB, the living body LB is displayed easily in the live view image g11.

  As described above, when the unmanned aerial vehicle 100 is capable of identifying (for example, visually recognizing) the living body LB as a survey target even if the sensor unit 310 is not inserted in the back of the gap of the obstacle BC, the gap of the obstacle BC It is possible to drop the transmitter 400 around the living body LB without dropping the transmitter 400. Even in this case, marking of the position of the living body LB is possible.

  Next, a specific approach to the survey target SRO of the unmanned aerial vehicle 100 in consideration of the obstacle BC will be described. In this case, the unmanned aerial vehicle 100 moves left and right (that is, moves in the horizontal direction other than the advancing direction (advancing direction)) to avoid the obstacle BC, and cases where the left and right movement does not occur without avoiding the obstacle BC. is assumed.

  FIG. 25A is a schematic view showing an example of the positional relationship between the unmanned aerial vehicle 100 and the obstacle BC when left and right movement is unnecessary. 25B is a schematic view showing an example of the positional relationship between the unmanned aerial vehicle 100 and the obstacle BC when the unmanned aerial vehicle 100 approaches the survey target SRO from the state of FIG. 25A. 25A and 25B are views from below of the unmanned aerial vehicle 100 and the obstacle BC.

  In FIG. 25A, the surveyed SRO is forward (rightward in FIG. 25A). In addition, the obstacle BC does not exist between the imaging unit 316 included in the unmanned aerial vehicle 100 and the investigation target SRO. That is, the obstacle BC does not exist on a straight line connecting the imaging unit 316 of the unmanned aerial vehicle 100 and the investigation target SRO. Therefore, it is possible to reach the surveyed SRO by moving the unmanned aerial vehicle 100 forward as it is.

  In FIG. 25B, when the unmanned aerial vehicle 100 moves forward (rightward in FIG. 25A) from the state of FIG. 25A, the measurement distance to the obstacle BC measured by the first ultrasonic sensor 280 is the reference length d0. Yes, indicating that the sensor condition is satisfied. In this case, the sensor condition satisfaction mark MK2 is displayed together with the live view image g11. This measurement distance is the distance from the rotary wing 211 in front of the unmanned aerial vehicle 100 to the obstacle BC (the approach position p1), and has a reference length d0.

  At the position shown in FIG. 25B, the UAV control unit 110 of the unmanned aerial vehicle 100 stretches the second pole 206, and the sensor unit 310 detects biological information in the investigation target SR0. The biological information may include information indicating that a living body exists or information indicating that a living body does not exist.

  In this case, the UAV control unit 110 acquires decompression instruction information for the second pole 206 to be decompressed, and decompresses the second pole 206 based on the decompression command information. The UAV control unit 110 extends the second pole 206 automatically or manually.

  When the second pole 206 is manually extended, the control unit of the transmitter 50 or the terminal control unit 81 of the terminal 80 inputs an instruction for extending the second pole 206 via the operation unit, and via the communication unit The extension instruction information may be transmitted to the unmanned aerial vehicle 100. In the unmanned aerial vehicle 100, the UAV control unit 110 may extend the second pole 206 based on the extension instruction information.

  When automatically extending the second pole 206, the UAV control unit 110 satisfies the sensor condition at the current position of the unmanned aerial vehicle 100, and the extended position of the second pole 206 (if the second pole 206 is extended, If the obstacle BC does not exist at the position where the two poles 206 reach, the second pole 206 may be extended. Whether or not the obstacle BC is present at the extended position of the second pole 206 may be determined, for example, using image recognition on the image captured by the imaging unit 316 at the current position of the unmanned aerial vehicle 100. In FIG. 25B, the obstacle BC is not present at the extended position of the second pole 206.

  Therefore, when the unmanned aerial vehicle 100 reaches a predetermined position for detecting biological information, the second pole 206 is extended and the biological information is detected by the sensor unit 310 provided on the tip side of the second pole 206 it can. In addition, by keeping the second pole 206 in a contracted state before reaching a predetermined position for detecting biological information, the overall size of the unmanned aerial vehicle 100 including the second pole 206 is reduced. , It becomes difficult for the unmanned aerial vehicle 100 to collide with the obstacle BC around the surveyed SRO. Therefore, the unmanned aerial vehicle 100 can be easily moved, and damage due to a collision of the unmanned aerial vehicle 100 can be suppressed.

  In addition, the pole extension button for instructing the extension of the second pole 206 while the user confirms the situation in the vicinity of the investigation target SRO through the display unit 88 by the extension of the second pole 206 manually. The second pole 206 can be extended by pressing (not shown). Thus, the unmanned aerial vehicle 100 can extend the second pole 206 at the timing and position desired by the user.

  FIG. 26A is a schematic view showing an example of the positional relationship between the unmanned aerial vehicle 100 and the obstacle BC when left and right movement is required. FIG. 26B is a view for explaining that the unmanned aerial vehicle 100 moves avoiding the obstacle BC. FIG. 26C is a view for explaining changing the orientation of the second pole 206. FIG. 26D is a diagram for describing sensing by the sensor unit 310. 26A to 26D are views from below of the unmanned aerial vehicle 100 and the obstacle BC.

  In FIG. 26A, the surveyed SRO is forward (rightward in FIG. 26A). On the other hand, an obstacle BC exists between the imaging unit 316 included in the unmanned aerial vehicle 100 and the survey target SRO. That is, the obstacle BC is present on a straight line connecting the imaging unit 316 of the unmanned aerial vehicle 100 and the investigation target SRO. Therefore, when the unmanned aerial vehicle 100 moves forward as it is, the rotary wings 211 and the like contact the obstacle BC.

  In this case, the UAV control unit 110 acquires movement instruction information for moving the unmanned aerial vehicle 100, and moves the unmanned aircraft 100 based on the movement instruction information. The UAV control unit 110 moves automatically or manually.

  When manually moving the unmanned aerial vehicle 100, the control unit of the transmitter 50 or the terminal control unit 81 of the terminal 80 inputs an instruction for moving the unmanned aerial vehicle 100 via the operation unit, and moves via the communication unit The instruction information may be transmitted to the unmanned aerial vehicle 100. In the unmanned aerial vehicle 100, the UAV control unit 110 may extend the unmanned aerial vehicle 100 based on the movement instruction information.

  When automatically moving the unmanned aerial vehicle 100, the UAV control unit 110 may move the unmanned aerial vehicle 100 avoiding the obstacle BC if the sensor conditions are not satisfied. The movement of the unmanned aerial vehicle 100 avoiding the obstacle BC uses the image recognition for the image captured by the imaging unit 316 at the current position of the unmanned aerial vehicle 100 to measure the position and distance of the obstacle BC. It should be adjusted to avoid.

  Therefore, even if the periphery of the surveyed SRO is covered by the obstacle BC in the flight course of the unmanned aircraft 100, the unmanned aerial vehicle 100 changes the flight course to an arbitrary direction and avoids the obstacle BC to be the surveyed SRO. It can be approached. Therefore, the unmanned aerial vehicle 100 can bring the biological information closer to a detectable state by the sensor unit 310, can detect a living body, and can increase the probability of success in rescue.

  Also, by manually moving the unmanned aerial vehicle 100, the user may fly and move the unmanned aerial vehicle 100 while avoiding the obstacle BC while confirming the situation in the vicinity of the surveyed SRO via the display unit 88. it can. Thus, the unmanned aerial vehicle 100 can move the unmanned aerial vehicle 100 in consideration of the timing and position desired by the user.

  In FIG. 26B, the unmanned aerial vehicle 100 is moving to the left front (upper right direction in FIG. 26B) from the state of FIG. 26A, which indicates that the sensor condition is satisfied. In this case, the sensor condition satisfaction mark MK2 is displayed together with the live view image g1. That is, in order to detect biological information by the sensor unit 310, it is further shown that the unmanned aerial vehicle 100 does not need to move.

  In FIG. 26B, when the second pole 206 is extended without changing the orientation of the second pole 206, the second pole 206 collides with an obstacle BC located in front. Also, the surveyed SRO does not exist on the extension of the direction in which the second pole 206 extends. Therefore, the UAV control unit 110 changes the direction of the second pole 206 in the horizontal direction so as to turn to the direction of the investigation target SRO.

  In this case, the UAV control unit 110 acquires direction instruction information for changing the direction of the second pole 206, and changes the direction of the second pole 206 based on the direction instruction information. The UAV control unit 110 changes the orientation of the second pole 206 automatically or manually.

  When changing the direction of the second pole 206 manually, the control unit of the transmitter 50 or the terminal control unit 81 of the terminal 80 inputs an instruction for changing the direction of the second pole 206 via the operation unit, Direction indication information may be transmitted to the unmanned aerial vehicle 100 via the communication unit. In the unmanned aerial vehicle 100, the UAV control unit 110 may control the first gimbal 200 to change the direction of the second pole 206 based on the direction indication information.

  When automatically changing the orientation of the second pole 206, the UAV control unit 110 satisfies the sensor condition at the current position of the unmanned aerial vehicle 100, and when the obstacle BC is present at the extended position of the second pole 206, the first The gimbal 200 may be controlled to change the orientation of the second pole 206. In FIG. 26B, the obstacle BC is present at the extended position of the second pole 206.

  Therefore, by changing the direction of the second pole 206, the unmanned aerial vehicle 100 does not move the unmanned aerial vehicle 100, for example, even if there is an obstacle BC in the forward direction of the unmanned aerial vehicle 100. The sensor unit 310 can be moved closer to the survey target SRO. In addition, the unmanned aerial vehicle 100 can finely adjust the positional relationship between the unmanned aerial vehicle 100 and the surveyed SRO by changing the direction of the second pole 206 after moving the unmanned aerial vehicle 100 to a desired position. . Thus, the unmanned aerial vehicle 100 can increase the possibility that the sensor unit 310 can detect biological information.

  In addition, by manually changing the direction of the second pole 206, the user avoids the obstacle BC while checking the situation in the vicinity of the obstacle BC and the SRO to be surveyed through the display unit 88, and thus the obstacle BC The orientation of the second pole 206 can be adjusted so that it can enter into the gap between the two. Therefore, the unmanned aerial vehicle 100 can change the direction of the second pole 206 in consideration of the timing and position desired by the user.

  26C, the UAV control unit 110 adjusts the angle at which the first gimbal 200 supports the second pole 206 without changing the position of the unmanned aerial vehicle 100 from the position of FIG. 26B, and the direction of the second pole 206 is changed. It is changed to the right front (lower right direction in FIG. 26C). Thereby, when the unmanned aerial vehicle 100 extends the second pole 206, the second pole 206 can be prevented from colliding with the obstacle BC. In addition, it is possible to extend the second pole 206 toward the investigation target SRO.

  Also, in FIG. 26C, the distance from the front end of the unmanned aerial vehicle 100 (the tip of the front rotary wing 211) to the obstacle BC facing the unmanned aerial vehicle 100 corresponds to the reference length d0. Here, in FIG. 26C, as the direction of the second pole 206 is changed, the reference length d0 is changed to the reference length d1. The reference length d1 is shorter than the reference length d0. Since it is necessary to be shorter than the reference length d1 in order to satisfy the sensor condition, the sensor condition is not satisfied in FIG. 26C. That is, considering the length L3 when the second pole 206 is maximally extended, the starting point of the length L3 (end point on the rotary wing 211 side) is closer to the front than the entry position p1 of the obstacle BC (the unmanned aerial vehicle 100 side Located in). Therefore, in order to enable sensing by the sensor unit 310, the unmanned aerial vehicle 100 must further advance.

  In FIG. 26D, the unmanned aerial vehicle 100 is advanced toward the opposing obstacle BC more than the state of FIG. 26C, and the distance between the front end of the unmanned aerial vehicle 100 and the obstacle BC is the reference length d1. ing. In this case, the sensor condition is satisfied, and the sensor condition satisfaction mark MK2 is displayed together with the live view image g1. That is, at the position of the unmanned aerial vehicle 100 shown in FIG. 26D, it is shown that the biological information can be detected by the sensor unit 310.

  As described above, in the case where the unmanned aerial vehicle 100 requires the SRO to be surveyed to move forward and to move from side to side (movement other than front and back in the horizontal direction) in order to avoid the obstacle BC, the UAV control unit 110 Manually or automatically control the flight of the unmanned aerial vehicle 100 and move the unmanned aerial vehicle 100 position. In addition, the UAV control unit 110 controls the first gimbal 200 so that the sensor unit 310 faces in the direction of the survey target SRO. In this case, for example, the imaging direction by the imaging unit 316 is the direction of the investigation target SRO.

  Further, when the direction of the second pole 206 is adjusted by controlling the first gimbal 200, the UAV control unit 110 recalculates the reference length d which changes depending on the angle of the second pole 206, and according to the recalculation result The sensor condition satisfaction mark MK2 is displayed or not displayed together with the live view image g11.

  Next, the details of the reference length d (d1, d2) will be described.

  The UAV control unit 110 calculates a reference length d for determining whether the sensor condition is satisfied. When the UAV control unit 110 controls the first gimbal 200 and changes the orientation of the second pole 206 with respect to the first gimbal 200, the UAV control unit 110 may recalculate the reference length d.

For example, the reference length d0 shown in FIG. 25B, FIG. 26B, and FIG. 26C may be represented by the following (Expression 1).
d0 = L1-L2-L3 (Equation 1)

  FIG. 27 is a diagram for describing a reference length d1 in which the direction of the second pole 206 with respect to the first gimbal 200 is taken into consideration.

For example, the distance d1 between the unmanned aerial vehicle 100 and the obstacle BC after changing the orientation of the second pole 206 with respect to the first gimbal 200 shown in FIG. 26C may be expressed by the following (Formula 2).
d1 = L1'-L2-L3 (Equation 2)
In addition, L1 ′ = L1 × cos α × cos β
Here, α may be an angle formed by the extending direction of the second pole 206 and the y axis (corresponding to the pitch axis). β may be an angle between the extending direction of the second pole 206 and the z-axis (corresponding to the yaw axis).

  In other words, the angle α indicates, for example, a horizontal component (horizontal angle) of the angle in the extending direction of the second pole 206 with respect to the reference direction (here, the direction along the y axis) of the second pole 206 shown in FIG. . β indicates, for example, the vertical component (vertical angle) of the angle in the extending direction of the second pole 206 with respect to the reference direction of the second pole 206 shown in FIG. As such, when the extension direction of the second pole 206 is changed from the reference direction, the reachable range when the second pole 206 is extended becomes short. On the other hand, even if the orientation of the second pole 206 changes, the reference direction (for example, the forward direction) of the unmanned aerial vehicle 100 does not change. Therefore, the direction of the reference length d is not changed from the reference direction of the unmanned aerial vehicle 100, and is treated as if the effective range capable of sensing is shortened (becomes the near side), and the reference length d is shortened Do.

  Next, the operation of the living body search system 10 will be described.

  FIG. 28 is a sequence diagram showing an operation example of the living body search system 10. Here, it is assumed that the power supplies of the various sensors included in the sensor unit 310 are turned on and the various sensors are operable.

  In the unmanned aerial vehicle 100, the UAV control unit 110 causes the imaging unit 316 to capture an image in the search area SR1, and transmits the captured aerial image to the terminal 80 via the communication interface 150 (S101). In the terminal 80, the terminal control unit 81 receives an aerial image via the communication unit 85, and causes the display unit 88 to display the aerial image as the live view image g11 (S201).

  The user confirms the live view image g11 on the screen of the display unit 88, and operates the transmitter 50 so that the unmanned aerial vehicle 100 approaches the survey target SRO. The transmitter 50 transmits flight instruction information to the unmanned aircraft 100 based on user operation. In the unmanned aerial vehicle 100, the UAV control unit 110 controls the flight of the unmanned aerial vehicle 100 based on the flight instruction information received via the communication interface 150. Further, the UAV control unit 110 controls the first gimbal 200 such that the second pole 206 faces the reference direction, and controls the unmanned aerial vehicle 100 to face the forward direction (for example, the direction along the y axis in FIG. 27). ing.

  The UAV control unit 110 controls the unmanned aerial vehicle 100 to approach the survey target SRO located in the back of the gap of the obstacle BC. The UAV control unit 110 measures (detects) the distance from the obstacle BC present in all directions around the investigation target SRO via the first ultrasonic sensor 280 (S102).

  When the measurement distance is smaller than the safe distance (less than the safe distance), the UAV control unit 110 notifies the terminal 80 of that via the communication interface 150 (S103). In the terminal 80, the terminal control unit 81 receives that via the communication unit 85, and causes the display unit 88 to display the obstacle approach mark MK1 (S202). Note that the display mode of the obstacle approach mark MK1 may be changed according to the measurement distance.

  The user operates the transmitter 50 to issue a flight instruction of the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 does not collide with the obstacle BC while referring to the obstacle approach mark MK1 displayed on the display unit 88 (FIG. S203). The transmitter 50 transmits flight instruction information based on a user operation to the unmanned aerial vehicle 100 (S204). In the UAV 100, the UAV control unit 110 controls the flight of the UAV 100 based on the flight instruction information received via the communication interface 150, and adjusts the position of the UAV 100 (S104).

  When the distance measured by the first ultrasonic sensor 280 becomes shorter than the threshold th3 as the UAV control unit 110 flies in the forward direction of the unmanned aerial vehicle 100, the sensor condition is satisfied at this flight position. In this case, the UAV control unit 110 notifies the terminal 80 that the sensor condition is satisfied (an example of the second notification information) via the communication interface 150 (S105). In the terminal 80, the terminal control unit 81 receives an indication that the sensor condition is satisfied via the communication unit 85, and causes the display unit 88 to display the sensor condition satisfaction mark MK2 (S205).

  The user inputs an instruction to control the angle of the first gimbal 200 and adjust the direction of the second pole 206 via the operation unit of the transmitter 50 or the operation unit 83 of the terminal 80 (S206). The control unit or the terminal control unit 81 of the transmitter 50 receives the user operation, and transmits the direction indication information of the second pole 206 to the unmanned aerial vehicle 100 via the communication unit 85 or the like (S207). In the unmanned aerial vehicle 100, the UAV control unit 110 receives the direction indication information via the communication interface 150, and changes the direction of the second pole 206 based on the direction indication information (S106).

  When the reference length d0 is shortened by adjusting the angle of the second pole 206 with respect to the first gimbal 200 and the sensor condition is not satisfied, the UAV control unit 110 displays that effect. In this case, the UAV control unit 110 transmits to the terminal 80 that the sensor condition is not satisfied via the communication interface 150. In the terminal 80, the terminal control unit 81 receives an indication that the sensor condition is not satisfied via the communication unit 85, and cancels the display of the sensor condition satisfaction mark MK2 by the display unit 88 (stops the display). Thereby, the user can recognize that the sensor condition is not satisfied. In this case, for example, the UAV control unit 110 moves the unmanned aerial vehicle 100 forward or manually manually or automatically, and adjusts the sensor condition to be satisfied.

  When the user confirms that the sensor condition is satisfied, for example, by the display of the sensor condition satisfaction mark MK2, the user instructs to extend the second pole 206 via the operation unit of the transmitter 50 or the operation unit 83 of the terminal 80. It inputs (S208). The control unit or the terminal control unit 81 of the transmitter 50 receives the user operation, and transmits the extension instruction information of the second pole 206 to the unmanned aerial vehicle 100 via the communication unit 85 or the like (S209). In the UAV 100, the UAV control unit 110 receives the extension instruction information via the communication interface 150, and extends the second pole 206 based on the extension instruction information (S107).

  When the user confirms the extension of the second pole 206, the user controls the second gimbal 202 via the operation unit of the transmitter 50 or the operation unit 83 of the terminal 80 to orient the sensor unit 310 in the direction of the SRO to be investigated. An instruction to turn is input (S210). The control unit or the terminal control unit 81 of the transmitter 50 receives the user operation, and transmits the direction instruction information of the sensor unit 310 to the unmanned aerial vehicle 100 via the communication unit 85 or the like (S211). In the unmanned aerial vehicle 100, the UAV control unit 110 receives the direction instruction information via the communication interface 150, and changes the direction of the sensor unit 310 based on the direction instruction information (S108).

  The UAV control unit 110 approaches the survey target SRO and causes various sensors included in the sensor unit 310 directed to the survey target SRO to detect biological information (S109). The biological information may be information that is detected by the sensor unit 310 and includes data related to the survey target. The UAV control unit 110 determines the presence or absence of a living body based on the detected biological information (S110).

  If the UAV control unit 110 determines that a living body (for example, a living person) is present, the UAV control unit 110 opens the opening / closing unit 321 of the accommodation box 320 in which the transmitter 400 is accommodated, and drops the transmitter 400 (S111).

  Further, when it is determined that a living body is present, the UAV control unit 110 acquires position information of the unmanned aerial vehicle 100 via the GPS receiver 240. The UAV control unit 110 transmits this position information of the unmanned aerial vehicle 100 to the server device 40 via the communication interface 150. The UAV control unit 110 acquires position information of the unmanned aerial vehicle 100 via the communication interface 150. The UAV control unit 110 transmits the biological information detected by the sensor unit 310 and the image taken by the imaging unit 316 or the imaging unit 230 to the server device 40 together with the position information of the unmanned aerial vehicle 100 via the communication interface 150. May be The image captured by the imaging unit 316 may be an image captured by a living body.

  According to the unmanned aerial vehicle 100 and the living body searching system 10, in addition to searching for a living body using various cameras and various gimbals, searching for a living body is performed using various sensors of the sensor unit 310. The presence or absence of a living body can be determined using information other than vision. Thus, the unmanned aerial vehicle 100 and the biometric system 10 can, for example, improve the rescue efficiency and save the rescue time. In addition, even when a person is buried under rubble or snow due to an earthquake or an avalanche, the unmanned aerial vehicle 100 and the living body searching system 10 can search for a living body by reducing the risk when the user searches for a living body.

  Next, management of biological information and caller information by the server device 40 will be described.

  In the server device 40, the server control unit 41 acquires position information of the living body from the unmanned aerial vehicle 100 via the communication unit 45. The server control unit 41 may acquire biological information or an image captured by the imaging unit 316 or the imaging unit 230 from the unmanned aerial vehicle 100 via the communication unit 45. The server control unit 41 causes the storage 49 to accumulate the acquired position information of the living body, the biological information, the image, and the like in the storage 49.

  The storage 49 may hold biological information and information (transmitter information) on the transmitter 400. The transmitter information may be information of the transmitter 400 dropped in the past or dropped in the future. For example, the storage 49 may hold identification information of the transmitter 400, position information on which the transmitter 400 is dropped (position information of the unmanned aerial vehicle 100), biological information, and the like. The information on the position where the transmitter 400 is dropped may match the position information on the living body. The storage 49 may hold an image captured by the unmanned aerial vehicle 100 together with the biometric information and the transmitter information. This aerial image may be an image of a living body included in the survey target SRO.

  The server control unit 41 may acquire information (position information of a living body, biological information, an image, and the like) accumulated in the storage 49 and display the information on an external monitor. The server control unit 41 may transmit, via the communication unit 45, information stored in the storage 49 (position information of a living body, biological information, an image, etc.) to the terminal 80 or the like.

  The server control unit 41 may acquire the map data held in the storage 49. The server control unit 41 may acquire map data from an external server via the communication unit 45. The server control unit 41 may superimpose the position information of the living body acquired from the unmanned aerial vehicle 100 in the map data. The map data on which the position information of the living body is superimposed may be displayed on an external monitor or may be transmitted to the terminal 80.

  As described above, by transmitting location information and the like of the living body to the server device 40 and accumulating the same, in the center where the server devices 40 are integrated, location information and the like of the living body can be listed and confirmed. Thus, for example, a user departing from the center can go directly to the position where the living body exists. Further, by the server device 40 and the terminal 80 possessed by the user collaborating, the user can confirm the position information of the living body and the information of the transmitter near the rescue site.

  Thus, the rescue worker of the disaster relief center can refer to the external monitor to confirm the position of the living body. Further, the rescue worker who has headed to the search area SR1 can refer to the display unit 88 of the terminal 80 to confirm the possession position of the living body. In addition, the user can acquire biological information as well as position information, and can grasp what state a living body exists at each position where the living body exists.

  Further, when the user approaches the periphery of the living body, the terminal 80 can receive the radio wave of the transmitter 400 dropped around the living body. Therefore, the living body search system 10 can significantly improve the searching efficiency and the rescue efficiency of the living body as compared with the case where the obstacle BC searches a living body without many clues.

  In the present embodiment, the unmanned aerial vehicle 100 exemplifies execution of a process related to searching for a living body, but the present invention is not limited to this. For example, the processing unit of the transmitter 50 and the terminal control unit 81 of the terminal 80 may perform at least a part of the processing related to the search for a living body described in the present embodiment. As a result, the processing load on the unmanned aerial vehicle 100 can be reduced at the time of execution of processing relating to the search for a living body, and load distribution can be achieved.

  In the present embodiment, the terminal 80 that supports biological search of the unmanned aerial vehicle 100 (a terminal that instructs control of the unmanned aerial vehicle 100) may be the same terminal as the terminal 80 that a rescue worker who actually goes searching for a living body holds. Or a separate terminal.

  Although the present disclosure has been described above using the embodiments, the technical scope of the present disclosure is not limited to the scope described in the above-described embodiments. It is obvious for those skilled in the art to add various changes or improvements to the embodiment described above. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the present disclosure.

  The execution order of each process such as operations, procedures, steps, and steps in the apparatuses, systems, programs, and methods shown in the claims, the specification, and the drawings is particularly “before”, “preceding” Etc., and can be realized in any order as long as the output of the previous process is not used in the later process. With regard to the flow of operations in the claims, the specification, and the drawings, even if it is described using “first,” “next,” etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.

DESCRIPTION OF SYMBOLS 10 living body search system 40 server apparatus 41 server control part 45 communication part 47 memory 49 storage 50 transmitter 80 terminal 81 terminal control part 83 operation part 85 communication part 87 memory 88 display part 89 storage 100 unmanned aerial vehicle 110 UAV control part 150 communication interface 160 memory 170 storage 200 first gimbal 202 second gimbal 204 first pole 206 second pole 210 rotary wing mechanism 230 imaging unit 240 GPS receiver 250 inertia measurement device 260 magnetic compass 270 barometric altimeter 280 first ultrasonic sensor 290 laser measurement 310 Sensor section 311 Carbon dioxide sensor 312 Visible light LED
313 Infrared LED
314 second ultrasonic sensor 315 infrared sensor 316 imaging unit 316a image sensor 317 microphone 320 accommodation box 321 opening / closing unit camera B1 LED button B2 IR LED button B3 MARK button BC obstacle g11 live view image g12, g13 display area of detected values MK1 , MK11, MK12 obstacle approach mark MK2 sensor condition satisfaction mark LB living body p1 insertion position SRO survey target SR1 search area U1 user

Claims (33)

A body to which a rotor is attached;
A first support member connected to the body;
A first gimbal supported by the first support member;
A second support member rotatably supported by the first gimbal;
A second gimbal supported by the second support member;
A sensor unit rotatably supported by the second gimbal;
A flying body equipped with The second support member is telescopic.
The aircraft according to claim 1. The first support member is telescopic.
The aircraft according to claim 1 or 2. The sensor unit detects information on a living body.
The aircraft according to any one of claims 1 to 3. It is an aircraft searching for a living body,
A sensor unit that detects biological information related to the living body;
An expandable support member that supports the sensor unit;
A gimbal rotatably supporting the support member;
A processing unit that performs processing related to searching for the living body;
An imaging unit that captures an image;
Equipped with
The processing unit is
Causing the imaging unit to capture an image of a survey area;
Controlling the flight of the aircraft to bring the aircraft closer to the survey area;
Elongating the support member towards the investigation object present in the investigation area,
Causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information;
Flying body. The processing unit is
When information indicating that the living body is present is detected as the biological information,
Get location information of the aircraft,
Transmitting location information of the aircraft to a server device;
The aircraft according to claim 5. The flying object includes a housing portion for housing a transmitter for transmitting radio waves,
The processing unit drops the transmitter from the storage unit when information indicating that the living body is present is detected as the biological information.
The aircraft according to claim 6. The processing unit is
The drop instruction information for dropping the transmitter is obtained from the control device instructing the control of the flying object;
Causing the transmitter to be dropped based on the drop instruction information;
The aircraft according to claim 7. The processing unit satisfies a sensor condition indicating whether the biological information can be detected by the sensor unit when the support member is extended at the current position of the flying object, and the processing unit sets the extended position of the support member. If the obstacle is not present, extend the support member
The aircraft according to any one of claims 5 to 8. The processing unit is
Obtaining extension instruction information for instructing extension of the support member from a control device instructing control of the flying object;
Extending the support member based on the extension instruction information;
The aircraft of claim 9. When the processing unit does not satisfy a sensor condition indicating whether or not the biological information can be detected by the sensor unit when the support member is extended, the processing unit moves the flying object avoiding an obstacle.
The aircraft according to any one of claims 5 to 10. The processing unit is
The movement instruction information for instructing the movement of the flight body is acquired from the control device instructing the control of the flight body,
Moving the flying object avoiding the obstacle based on the movement instruction information;
The aircraft according to claim 11. The processing unit satisfies a sensor condition indicating whether the biological information can be detected by the sensor unit when the support member is extended at the current position of the flying object, and the processing unit sets the extended position of the support member. Controlling the gimbal to change the orientation of the support member if an obstacle is present,
The aircraft according to any one of claims 5 to 12. The processing unit acquires direction instruction information for instructing the direction of the support member from a control device that instructs control of the aircraft.
Changing the direction of the support member based on the direction instruction information;
The aircraft of claim 13. The sensor unit includes a plurality of sensors,
The processing unit acquires on / off instruction information for turning on or off at least one sensor included in the sensor unit from a control device that instructs control of the flying object.
At least one sensor included in the sensor unit is turned on or off based on the on / off instruction information.
The aircraft according to any one of claims 5 to 14. The sensor condition includes the length from one end of the support member to the first point of the support member corresponding to the end of the rotary wing, the length from the one end to the other end of the support member, and the survey target Determined based on the length from the other end of the support member inserted into the existing survey space to the second point,
The airframe according to any one of claims 9, 11 and 13. A living body search system comprising an aircraft and a display device for searching a living body, comprising:
The aircraft is
A sensor unit for detecting biological information on a living body;
An expandable support member that supports the sensor unit;
A gimbal rotatably supporting the support member;
A processing unit that performs processing related to searching for the living body;
An imaging unit that captures an image;
Equipped with
The processing unit is
Causing the imaging unit to capture an image of a survey area;
Controlling the flight of the aircraft to bring the aircraft closer to the survey area;
Elongating the support member towards the investigation object present in the investigation area,
Causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information;
Send the biological information,
The display device is
Receiving the biological information,
Display based on the biological information
Biometric search system. The sensor unit of the flying object detects a distance to an obstacle present around the living body,
If the distance is less than a predetermined distance, the processing unit of the aircraft transmits first notification information based on the distance to a display device.
The display device is
Receiving the first notification information;
Display based on the first notification information,
The biometric search system according to claim 17. When the processing unit of the flight object satisfies a sensor condition indicating whether the detection of the biological information is possible by the sensor unit when the support member is extended at the current position of the flight object, the sensor Sending to the display device second notification information based on satisfying the condition;
The display device is
Receiving the second notification information;
Display based on the second notification information,
The biometric system according to claim 17 or 18. A living body searching method for a flying object, comprising: a sensor unit for detecting living body information related to a living body; a support member which supports the sensor unit and which is stretchable; and a gimbal which can rotatably support the support member; There,
Causing an imaging unit for capturing an image to capture an image of a survey area;
Controlling the flight of the aircraft to bring the aircraft closer towards the investigation area;
Elongating the support member towards a survey object present in the survey area;
Causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information;
A living body search method having: Acquiring position information of the flying object when information indicating the presence of the living body is detected as the biological information;
Transmitting the position information of the aircraft to a server device.
21. The living body search method according to claim 20. The flying object includes a housing portion for housing a transmitter for transmitting radio waves,
And dropping the transmitter from the storage unit when information indicating the presence of the living body is detected as the biological information.
22. The living body search method according to claim 21. Obtaining from the control device instructing control of the flying object, dropping instruction information for dropping the transmitter;
The step of dropping the transmitter includes the step of dropping the transmitter based on the drop instruction information.
The biometric search method according to claim 22. The step of extending the support member satisfies a sensor condition indicating whether the biological information can be detected by the sensor unit when the support member is extended at the current position of the flying object, the support member Extending the support member if there is no obstruction in the extended position of
The biological search method according to any one of claims 20 to 23. Obtaining extension instruction information for instructing extension of the support member from a control device instructing control of the aircraft;
The step of extending the support member extends the support member based on the extension instruction information.
The living body search method according to claim 24. The step of controlling the flight of the flying object avoids an obstacle when the sensor condition indicating whether the biological information can be detected by the sensor unit is not satisfied when the support member is extended, the flight is performed without the obstacle. Including moving the body,
The living body search method according to any one of claims 20 to 25. Acquiring movement instruction information for instructing movement of the flight body from a control device instructing control of the flight body;
The step of controlling the flight of the flying object may include moving the flying object avoiding the obstacle based on the movement instruction information.
The living body search method according to claim 26. At the current position of the flying object, when the support member is extended, a sensor condition indicating whether the biological information can be detected by the sensor unit is satisfied, and an obstacle is present at the extended position of the support member And controlling the gimbal to change the orientation of the support member.
The living body search method according to any one of claims 20 to 27. Obtaining direction indication information for instructing the direction of the support member from a control device instructing control of the aircraft;
The step of changing the direction of the support member includes the step of changing the direction of the support member based on the direction instruction information.
29. The living body search method according to claim 28. The sensor unit includes a plurality of sensors,
Acquiring on / off instruction information for turning on / off at least one sensor included in the sensor unit from a control device instructing control of the flying object;
Switching on or off at least one sensor included in the sensor unit based on the on / off instruction information;
The living body search method according to any one of claims 20 to 29. The sensor condition includes the length from one end of the support member to the first point of the support member corresponding to the end of the rotary wing, the length from the one end to the other end of the support member, and the survey target Determined based on the length from the other end of the support member inserted into the existing survey space to the second point,
29. The living body searching method according to any one of claims 24, 26, 28. A flying object for detecting a living body, comprising: a sensor unit for detecting living body information on a living body; a support member which supports the sensor unit and which is stretchable; and a gimbal which can rotatably support the support member;
Causing an imaging unit for capturing an image to capture an image of a survey area;
Controlling the flight of the aircraft to bring the aircraft closer towards the investigation area;
Elongating the support member towards a survey object present in the survey area;
Causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information;
A program to run a program. A flying object for detecting a living body, comprising: a sensor unit for detecting living body information on a living body; a support member which supports the sensor unit and which is stretchable; and a gimbal which can rotatably support the support member;
Causing an imaging unit for capturing an image to capture an image of a survey area;
Controlling the flight of the aircraft to bring the aircraft closer towards the investigation area;
Elongating the support member towards a survey object present in the survey area;
Causing the sensor unit supported by the gimbal supported by the extended support member to detect the biological information;
A computer readable recording medium recording a program for executing the program.

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